private void RoboManagerInstance_LeftArmStatusChanged(object sender, ArmStatusEventArgs e)
{
if (!RoboManager.Instance.FollowUp)
{
return;
}
leftArm.Stop();
leftArm.Begin();
switch (e.NewStatus)
{
case ArmStatus.ArmDown:
appendLogEntry("Sol kol [Aşağıda]");
usbuirtController.TransmitAsync(KumandaKodlari.LeftArmDown, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmMiddle:
appendLogEntry("Sol kol [Ortada]");
usbuirtController.TransmitAsync(e.OldStatus == ArmStatus.ArmDown ? KumandaKodlari.LeftArmUp : KumandaKodlari.LeftArmDown, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmUp:
appendLogEntry("Sol kol [Yukarıda]");
usbuirtController.TransmitAsync(KumandaKodlari.LeftArmUp, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
}
}
private void RoboManagerInstance_RightForeArmStatusChanged(object sender, ArmStatusEventArgs e)
{
if (!RoboManager.Instance.FollowUp)
{
return;
}
rightForeArm.Stop();
rightForeArm.Begin();
switch (e.NewStatus)
{
case ArmStatus.ArmDown:
appendLogEntry("Sağ Ön kol [Açıkta]");
usbuirtController.TransmitAsync(KumandaKodlari.RightArmOut, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmMiddle:
appendLogEntry("Sağ Ön kol [Ortada]");
usbuirtController.TransmitAsync(e.OldStatus == ArmStatus.ArmUp ? KumandaKodlari.RightArmOut : KumandaKodlari.RightArmIn, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmUp:
appendLogEntry("Sağ Ön kol [Kapalı]");
usbuirtController.TransmitAsync(KumandaKodlari.RightArmIn, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
}
}
private void RoboManagerInstance_LeftArmStatusChanged(object sender, ArmStatusEventArgs e)
{
if (!RoboManager.Instance.FollowUp) { return; }
leftArm.Stop();
leftArm.Begin();
switch (e.NewStatus)
{
case ArmStatus.ArmDown:
appendLogEntry("Sol kol [Aşağıda]");
usbuirtController.TransmitAsync(KumandaKodlari.LeftArmDown, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmMiddle:
appendLogEntry("Sol kol [Ortada]");
usbuirtController.TransmitAsync(e.OldStatus == ArmStatus.ArmDown ? KumandaKodlari.LeftArmUp : KumandaKodlari.LeftArmDown, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmUp:
appendLogEntry("Sol kol [Yukarıda]");
usbuirtController.TransmitAsync(KumandaKodlari.LeftArmUp, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
}
}
private void RoboManagerInstance_RightForeArmStatusChanged(object sender, ArmStatusEventArgs e)
{
if (!RoboManager.Instance.FollowUp) { return; }
rightForeArm.Stop();
rightForeArm.Begin();
switch (e.NewStatus)
{
case ArmStatus.ArmDown:
appendLogEntry("Sağ Ön kol [Açıkta]");
usbuirtController.TransmitAsync(KumandaKodlari.RightArmOut, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmMiddle:
appendLogEntry("Sağ Ön kol [Ortada]");
usbuirtController.TransmitAsync(e.OldStatus == ArmStatus.ArmUp ? KumandaKodlari.RightArmOut : KumandaKodlari.RightArmIn, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
case ArmStatus.ArmUp:
appendLogEntry("Sağ Ön kol [Kapalı]");
usbuirtController.TransmitAsync(KumandaKodlari.RightArmIn, KumandaKodlari.KodFormati, 1, TimeSpan.Zero);
break;
}
}
