public ConMotion(Main_UI _Main_ui, Hardware _Hardware, Vector _Vector, MotionProfile Motion)
{
hardware = _Hardware;
vector = _Vector;
motionProfile = Motion;
Main_ui = _Main_ui;
}
public Layer(MotionProfile profile, double width, double height)
{
this.Profile = profile;
MainCanvas = new Canvas();
MainCanvas.Width = App.FieldCanvasWidth;
MainCanvas.Height = App.FieldCanvasHeight;
CompileCanvas();
}
/// <summary>
/// Returns strings containing the segments used to make the profile and the profile for the robot
/// </summary>
public static String[] GetSaveFile(MotionProfile motionProfile)
{
double[][][] segments = motionProfile.Path.ToArray();
double[][] profile = motionProfile.ToArray();
String[] output = new String[profile.Length + segments.Length];
String timeDifference = (motionProfile.Robot.TimeIncrementInSec * 1000).ToString();
//Writes the file header
//Runs in only a couple milliseconds
for (int i = 0; i < segments.Length; i++)
{
output[i] = (SegmentToLine(segments[i]));
}
for (int i = 0; i < profile.Length; i++)
{
output[segments.Length + i] = (PointToString(profile[i]) + timeDifference);
}
return(output);
}
public static extern int HIMC_CircAbs(int nCtrlID, int nGroupID, CenterPosition center_pos, NormalVector normal_vector, int turns, CoordPosition target_pos, MotionProfile motion_profile, CoordSystem coord_sys, MotionBufferMode buf_mode, MotionTransitionMode trans_mode, double dTransPar);
public static extern int HIMC_LinRel(int nCtrlID, int nGroupID, CoordPosition relative_dist, MotionProfile motion_profile, CoordSystem coord_sys, MotionBufferMode buf_mode, MotionTransitionMode trans_mode, double dTransPar);
public static extern int HIMC_LinAbs(int nCtrlID, int nGroupID, CoordPosition target_pos, MotionProfile motion_profile, CoordSystem coord_sys, MotionBufferMode buf_mode, MotionTransitionMode trans_mode, double dTransPar);
