public void addMotion(Motion motion) { Motion tempMotion; lock (motionStack) { if (motion is MotionParameters) { tempMotion = new MotionParameters(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name, ((MotionParameters)motion).C_DIS, ((MotionParameters)motion).gripClose); } else { tempMotion = new Motion(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name); } } lock (motionStack) { motionStack.Add(motion); Debug.WriteLine("StackSize : " + stackSize()); } }
public void WriteHalfCircle(double CenterX, double CenterY, double Radius, Boolean circledown) { Double Point2Y = CenterY + Radius; //Besoin de 3 point motionArm = new Motion(CenterX + Radius, CenterY, up, 0, 0, 180, "LIN"); R.addMotion(motionArm); //Point 1: le départ motionArm = new Motion(CenterX + Radius, CenterY, down, 0, 0, 180, "LIN"); R.addMotion(motionArm); //Point 2: un point du cercle. if (circledown) { Point2Y = CenterY - Radius; } motionArmP = new MotionParameters(CenterX, Point2Y, down, 0, 0, 180, "CIRC", 5, true); R.addMotion(motionArmP); // Point 3: point d'arrivé motionArmP = new MotionParameters(CenterX - Radius, CenterY, down, 0, 0, 180, "CIRC", 5, true); R.addMotion(motionArmP); // On releve la pointe motionArm = new Motion(CenterX - Radius, CenterY, up, 0, 0, 180, "LIN"); R.addMotion(motionArm); motionArm = new Motion(CenterX - Radius, CenterY, up, 0, 0, 180, "LIN"); R.addMotion(motionArm); }
public void addMotion(Motion motion) { if (cli.clientReady) { Motion tempMotion; //s'il y a beaucoup de mouvements, on ralenti pour //éviter de saturer la mémoire lock (motionStack) { if (motion is MotionParameters) { tempMotion = new MotionParameters(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name, ((MotionParameters)motion).C_DIS, ((MotionParameters)motion).gripClose); } else { tempMotion = new Motion(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name); } } lock (motionStack) { motionStack.Add(tempMotion); } } }
public void copyM(MotionParameters mP) { this.copy((Motion)mP); this._C_DIS = mP.C_DIS; this._stateGripClose = mP.gripClose; }