public RobotDriver()
{
m_Servos = new Servos();
RestoreRobotCalibration();
RestoreCameraCalibration();
MoveRawCommand.DefaultSpeed = 300;
}
public MainFormModel()
{
m_Capture = new Capture();
m_Capture.FlipHorizontal = true;
m_Capture.FlipVertical = true;
m_Servos = new Servos();
RestoreRobotCalibration();
RestoreCameraCalibration();
}
public static void Write(string filePath, Servos servos)
{
using (StreamWriter writer = new StreamWriter(filePath))
{
// First line is just header
writer.WriteLine("Index\tName\tMinPosMilliSecs\tMaxPosMilliSecs\tSlope\tYIntercept");
for (int servoIndex = 0; servoIndex < servos.Count; servoIndex++)
{
WriteParameters(writer, servos[servoIndex], servoIndex);
}
}
}
public static void Read(string filePath, Servos servos)
{
using (StreamReader reader = new StreamReader(filePath))
{
// First line is just header
reader.ReadLine();
for (int servoIndex = 0; servoIndex < servos.Count; servoIndex++)
{
InitializeServo(reader, servos[servoIndex]);
}
}
}
public static void Write(string filePath, Servos servos)
{
using (StreamWriter writer = new StreamWriter(filePath))
{
// First line is just header
writer.WriteLine("Index\tName\tMinPosMilliSecs\tMaxPosMilliSecs\tSlope\tYIntercept");
for (int servoIndex = 0; servoIndex < servos.Count; servoIndex++)
{
WriteParameters(writer, servos[servoIndex], servoIndex);
}
}
}
public static void Read(string filePath, Servos servos)
{
using (StreamReader reader = new StreamReader(filePath))
{
// First line is just header
reader.ReadLine();
for (int servoIndex = 0; servoIndex < servos.Count; servoIndex++)
{
InitializeServo(reader, servos[servoIndex]);
}
}
}
public MainWindowViewModel()
{
m_Servos = new Servos();
RestoreCalibration();
this.X = Settings.Default.X;
this.Y = Settings.Default.Y;
this.Z = Settings.Default.Z;
this.ZIsBasedOnEndeffectorTip = Settings.Default.ZIsBasedOnTip;
if (this.X == 0 && this.Y == 0 && this.Z == 0)
{
this.X = RobotArm.ForearmLength;
this.Y = 0;
this.Z = RobotArm.ShoulderHeight + RobotArm.UpperArmLength;
this.ZIsBasedOnEndeffectorTip = false;
}
MoveRawCommand.DefaultSpeed = 500;
}
public MoveLogicalCommand(Servos servos)
{
m_Servos = servos;
}
public MoveLogicalCommand(Servos servos)
{
m_Servos = servos;
}