private void setUpjointAngleDictionary()
{
foreach (String x in NAOConversion.listOfTheJoint())
{
this.jointAngles.Add(x, 0f);
}
}
public void startStreamAngles(Dictionary <string, float> angles)
{
foreach (String x in NAOConversion.listOfTheJoint())
{
AngleBox.Text += x + " : " + angles[x].ToString();
}
AngleBox.Text += Environment.NewLine;
}
///<summary>
/// Send to the NAO the angle just computed.
///</summary>
private void moveJoint()
{
//Activate whole body balance control
//Fixing both left and right legs on a plane,
//they can move only along X and Y axis and rotate aroun Z axis
//Then set the balance constraint
motioProxy.wbEnable(true);
motioProxy.wbFootState("Fixed", "RLeg");
motioProxy.wbFootState("Fixed", "LLeg");
motioProxy.wbEnableBalanceConstraint(true, "Legs");
System.Collections.ArrayList angles = new System.Collections.ArrayList();
System.Collections.ArrayList joint = new System.Collections.ArrayList();
foreach (String x in NAOConversion.listOfTheJoint())
{
motioProxy.setAngles(x, this.jointAngles[x], fractionSpeed);
AnglesSent(jointAngles);
//System.Console.WriteLine(this.jointAngles[x]);
this.jointAngles[x] = 0f;
}
//motioProxy.angleInterpolationWithSpeed(joint, angles, fractionSpeed);
}
///<summary>
/// Send to the NAO the angle just computed.
///</summary>
private void moveJoint()
{
//Activate whole body balance control
//Fixing both left and right legs on a plane,
//they can move only along X and Y axis and rotate aroun Z axis
//Then set the balance constraint
motioProxy.wbEnable(true);
motioProxy.wbFootState("Fixed", "RLeg");
motioProxy.wbFootState("Fixed", "LLeg");
motioProxy.wbEnableBalanceConstraint(true, "Legs");
foreach (String x in NAOConversion.listOfTheJoint())
{
motioProxy.setAngles(x, this.jointAngles[x], fractionSpeed);
if (x == NAOConversion.HeadPitch || x == NAOConversion.HeadYaw)
{
this.jointAngles[x] = 0f;
}
if (x == NAOConversion.LShoulderRoll)
{
System.Console.WriteLine(this.jointAngles[x]);
}
}
}