public void setup()
{
l1pins = new ActuatorPinLocationData(Assembly.GetExecutingAssembly());
l2pins = new ActuatorPinLocationData(Assembly.GetExecutingAssembly());
l1pins.loadPins("Lbcb1PinPositions.txt");
l2pins.loadPins("Lbcb2PinPositions.txt");
}
public void setup()
{
LbcbData data = new LbcbData("LBCB1_Snapshot.txt");
expected1 = data.getExpectedLbcbValues();
data = new LbcbData("LBCB2_Snapshot.txt");
expected2 = data.getExpectedLbcbValues();
ActuatorPinLocationData l1pins = new ActuatorPinLocationData(Assembly.GetExecutingAssembly());
ActuatorPinLocationData l2pins = new ActuatorPinLocationData(Assembly.GetExecutingAssembly());
l1pins.loadPins("Lbcb1PinPositions.txt");
l2pins.loadPins("Lbcb2PinPositions.txt");
lbcbFactory = new LbcbConversionFactory();
double[] motionCenter = new double[] { 0.0, 0.0, 0.0 };
double[] xform = new double[] {
1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 1.0
};
lbcbFactory.setLbcb(false, l1pins.getFlattenedPins(),motionCenter, xform);
lbcbFactory.setLbcb(true, l2pins.getFlattenedPins(), motionCenter, xform);
string [] lnames = new string [] {"Command", "Readings"};
foreach (string n in lnames)
{
lbcbFactory.create(n + " 1", false);
lbcbFactory.create(n + " 2", true);
}
}