public static void Move(string port, int motorPause, ControlList controlList)
{
SerialPort sPort = new SerialPort(port);
StringBuilder sb = new StringBuilder();
try
{
sPort.Open();
sb.Clear();
foreach (IMovement m in controlList)
{
// parses the IMovement into a Position if possible
// and writes it to the serial port
if (m is Position position)
{
sb.Append(motorPause);
sb.Append(';');
sb.Append(position.BasicAngle);
sb.Append(';');
sb.Append(position.SoulderAngle);
sb.Append(';');
sb.Append(position.EllbowAngle);
sb.Append(';');
sb.Append(position.HandAngle_ver);
sb.Append(';');
sb.Append(position.HandAngle_rot);
sb.Append(';');
sb.Append(position.Gripper);
sPort.Write(sb.ToString());
sPort.ReadExisting(); // wait for message
}
else
{
if (m is Pause)
{
Task.Delay(((Pause)m).Pause_ms);
}
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
finally
{
sPort.Close();
}
}
public MainInterfacefrm()
{
#region initialize
InitializeComponent();
// read config from file
try
{
config = FileOperator.ReadConfig(configPath);
}
catch (Exception)
{
MessageBox.Show("Konfiguration konnte nicht gelesen werden.\nStandardkonfiguration wurde erstellt");
config = new Configuration()
{
EnginePause = 20
};
// add standard positions
}
controlList = new ControlList();
#region initializeControls
cboPorts.Items.AddRange(SerialPort.GetPortNames());
numericEnginePause.Value = config.EnginePause;
cboSavedPositions.Items.Add("slider input");
cboSavedPositions.SelectedIndex = 0;
foreach (SavedPosition p in config.StandardPositions)
{
cboSavedPositions.Items.Add(p.Name);
}
#endregion
#endregion
#region appearance
MaterialSkinManager materialSkinManager = MaterialSkinManager.Instance;
materialSkinManager.AddFormToManage(this);
materialSkinManager.Theme = MaterialSkinManager.Themes.LIGHT;
materialSkinManager.ColorScheme = new ColorScheme(
Primary.Orange400, Primary.Orange800,
Primary.Orange500, Accent.DeepOrange700,
TextShade.WHITE);
#endregion
}
public static bool WriteMovement(string path, ControlList list)
{
return(true);
}