private void MoveLeg(Vector3 target, LegConfiguration legConfig)
{
var legGoalPositions = CalculateIkForLeg(target, legConfig);
lock (_driver.SyncLock)
{
_driver.SetGoalPositionInDegrees(legConfig.CoxaId, legGoalPositions.Coxa);
_driver.SetGoalPositionInDegrees(legConfig.FemurId, legGoalPositions.Femur);
_driver.SetGoalPositionInDegrees(legConfig.TibiaId, legGoalPositions.Tibia);
}
}
public void CenterView()
{
lock (_driver.SyncLock)
{
_driver.SetMovingSpeed(HorizontalMotorIndex, 300);
_driver.SetMovingSpeed(VerticalMotorIndex, 300);
_driver.SetGoalPositionInDegrees(HorizontalMotorIndex, HorizontalCenter);
_driver.SetGoalPositionInDegrees(VerticalMotorIndex, VerticalCenter);
}
_centering = true;
}