public String Rotate(int interval, Direction direction)
{
String cmd = "";
switch (direction.Name)
{
case "Left": //left
NeckBalance.Position += interval;
cmd = "#" + NeckBalance.Number + "P" + NeckBalance.Position + " ";
break;
case "Right": //right
NeckBalance.Position -= interval;
cmd = "#" + NeckBalance.Number + "P" + NeckBalance.Position + " ";
break;
}
return cmd;
}
public String Turn(int interval, Direction direction)
{
String cmd = "";
switch (direction.Name)
{
case "Left": //left
NeckHorizontal.Position += interval;
cmd = "#" + NeckHorizontal.Number + "P" + NeckHorizontal.Position + " ";
break;
case "Right": //right
NeckHorizontal.Position -= interval;
cmd = "#" + NeckHorizontal.Number + "P" + NeckHorizontal.Position + " ";
break;
case "Up": // Head Up
NeckVertical.Position -= interval;
cmd = "#" + NeckVertical.Number + "P" + NeckVertical.Position + " ";
break;
case "Down": // Head Down
NeckVertical.Position += interval;
cmd = "#" + NeckVertical.Number + "P" + NeckVertical.Position + " ";
break;
}
return cmd;
}
/// <summary>
/// Change body height
/// </summary>
/// <param name="interval">Negative to lift the body, Positive to drop.</param>
/// <param name="direction"></param>
public void Push(int interval, Direction direction, int time)
{
String cmd= "";
switch (direction.Name)
{
case "Up":
cmd = LeftFront.Drop(interval) + LeftCenter.Drop(interval) + LeftRear.Drop(interval) +
LeftFront.Stand() + LeftCenter.Stand() + LeftRear.Stand() +
RightFront.Drop(interval) + RightCenter.Drop(interval) + RightRear.Drop(interval) +
RightFront.Stand() + RightCenter.Stand() + RightRear.Stand();
break;
case "Down":
cmd = LeftFront.Lift(interval) + LeftCenter.Lift(interval) + LeftRear.Lift(interval) +
LeftFront.Stand() + LeftCenter.Stand() + LeftRear.Stand() +
RightFront.Lift(interval) + RightCenter.Lift(interval) + RightRear.Lift(interval) +
RightFront.Stand() + RightCenter.Stand() + RightRear.Stand();
break;
case "Left": //left
cmd = LeftFront.Forward(interval) + LeftCenter.Forward(interval) + LeftRear.Forward(interval) +
RightFront.Backward(interval) + RightCenter.Backward(interval) + RightRear.Backward(interval);
break;
case "Right": //right
cmd = LeftFront.Backward(interval) + LeftCenter.Backward(interval) + LeftRear.Backward(interval) +
RightFront.Forward(interval) + RightCenter.Forward(interval) + RightRear.Forward(interval);
break;
case "Backward": //backward
cmd = LeftFront.Forward(interval) + LeftCenter.Forward(interval) + LeftRear.Forward(interval) +
RightFront.Forward(interval) + RightCenter.Forward(interval) + RightRear.Forward(interval);
break;
case "Forward": //Foward
cmd = LeftFront.Backward(interval) + LeftCenter.Backward(interval) + LeftRear.Backward(interval) +
RightFront.Backward(interval) + RightCenter.Backward(interval) + RightRear.Backward(interval);
break;
}
Port.SendCommand(cmd, time);
}
/// <summary>
/// Rotate head (change head's balance)
/// </summary>
/// <param name="interval">Moving Distance</param>
/// <param name="direction">Rotate direction: left/right</param>
/// <param name="time">Execution time</param>
public void HeadRotate(int interval, Direction direction, int time)
{
String cmd = head.Rotate(interval, direction);
Port.SendCommand(cmd, time);
}
