private async void Sim_HasStarted(object sender, EventArgs e)
{
//sync hardware arm with simulator
var comm = new EmulatorCommunication(_calSim.SimArm, null);
var simArm = new Arm(comm, comm.Arm.Settings.Values.ActiveServos.GetValueOrDefault(5));
await simArm.LoadSettingsAsync(); //load setting
App.Instance.Arm.Behaviors.Add(new SyncronizeCommands(simArm)
{
SuppressSync = true
});
}
private async void Sim_HasStarted(object sender, EventArgs e)
{
//create simulated arm;
var arm = App.Instance.Arm;
var comm = new EmulatorCommunication(_motionSim.SimArm, null, arm.Settings); //use real robots current settings
var simArm = new Arm(comm, comm.Arm.Settings.Values.ActiveServos.GetValueOrDefault(5));
await simArm.LoadSettingsAsync(); //load setting
//sync arm with simulator
arm.Behaviors.Add(new SyncronizeWithSimulator(simArm));
//setup IK in simulator
_ikSim = new IKSim(_motionSim.TransformGimbal, _motionSim.SimArm, new KinematicsUI(arm));
}
