public LeftHandPositions(EZ_B.EZB ezb)
{
_leftHandPosition = new AutoPosition(ezb, "My LeftHand Positions");
// Add servos
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Lefthandup
_leftHandPosition.Config.AddFrame("Lefthandup", "a666fd3d-e268-4687-ae22-b8fa2d302f31", new int[] { 85, 85, 85, 85, 85, 88, 10, 10, 85, 86, 85, 85, 85, 85, 85, 85 });
// Lefthanddown
_leftHandPosition.Config.AddFrame("Lefthanddown", "e12aef86-3342-48fb-a669-9d001d5ef7c3", new int[] { 85, 85, 85, 85, 85, 170, 10, 10, 85, 170, 85, 85, 85, 85, 85, 85 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Lefthanddown
_leftHandPosition.Config.AddAction(
new AutoPositionAction(
"Lefthanddown",
"cad0fca2-9143-4461-a450-b918ce2f350c",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("e12aef86-3342-48fb-a669-9d001d5ef7c3", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
// Lefthandup
_leftHandPosition.Config.AddAction(
new AutoPositionAction(
"Lefthandup",
"74a1b571-1945-4ebb-ae2e-44ff634c544d",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("a666fd3d-e268-4687-ae22-b8fa2d302f31", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
public WavePositions(EZ_B.EZB ezb)
{
_wavePosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// STAND
_wavePosition.Config.AddFrame("STAND", "e3333875-865c-4b9f-a35f-589ef7b56abb", new int[] { 90, 90, 90, 90, 90, 180, 1, 30, 60, 150, 120, 90, 90, 90, 90, 90 });
// Wave1
_wavePosition.Config.AddFrame("Wave1", "ae98a3f5-d354-4c10-aa40-010fc6514e21", new int[] { 90, 90, 90, 90, 90, 13, 2, 27, 58, 161, 119, 90, 90, 65, 97, 90 });
// Wave2
_wavePosition.Config.AddFrame("Wave2", "fbf3b358-48dc-4a62-a75c-ebbe7d419279", new int[] { 90, 90, 90, 90, 90, 13, 11, 35, 51, 153, 75, 90, 53, 73, 82, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Wave
_wavePosition.Config.AddAction(
new AutoPositionAction(
"Wave",
"78f5fb25-4eef-4966-97ba-662a9e761b4e",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("ae98a3f5-d354-4c10-aa40-010fc6514e21", 5, 7, 0),
new AutoPositionActionFrame("fbf3b358-48dc-4a62-a75c-ebbe7d419279", 25, 3, -1),
new AutoPositionActionFrame("ae98a3f5-d354-4c10-aa40-010fc6514e21", 25, 3, -1),
new AutoPositionActionFrame("fbf3b358-48dc-4a62-a75c-ebbe7d419279", 25, 3, -1),
new AutoPositionActionFrame("ae98a3f5-d354-4c10-aa40-010fc6514e21", 25, 3, -1),
new AutoPositionActionFrame("fbf3b358-48dc-4a62-a75c-ebbe7d419279", 25, 3, -1),
new AutoPositionActionFrame("e3333875-865c-4b9f-a35f-589ef7b56abb", 25, 5, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
public HeadLeftUpPositions(EZ_B.EZB ezb)
{
_headleftup = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Normal
_headleftup.Config.AddFrame("Normal", "984bd3d4-5a28-4239-93af-4ec541d4f915", new int[] { 90, 90, 90, 90, 90, 180, 180, 180, 90, 180, 90, 90, 90, 90, 90, 90 });
// headleftup
_headleftup.Config.AddFrame("headleftup", "59cd8a05-0fcf-4128-a37f-89a912b53155", new int[] { 90, 90, 90, 90, 90, 180, 180, 180, 90, 180, 90, 90, 90, 80, 170, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// headleftup
_headleftup.Config.AddAction(
new AutoPositionAction(
"headleftup",
"3aefa4f5-7b39-4cfa-bce1-da141ca28cf7",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("984bd3d4-5a28-4239-93af-4ec541d4f915", 25, 3, -1),
new AutoPositionActionFrame("59cd8a05-0fcf-4128-a37f-89a912b53155", 25, 3, -1)
},
AutoPositionAction.ActionTypeEnum.NA));
}
public ReversePositions(EZ_B.EZB ezb)
{
_reversePosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_reversePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Walk 1
_reversePosition.Config.AddFrame("Walk 1", "8fa6270a-e145-4db6-b9d0-a13899f685d1", new int[] { 90, 90, 90, 90, 70, 180, 21, 23, 53, 153, 120, 86, -1, -1, -1, 75 });
// Walk 2
_reversePosition.Config.AddFrame("Walk 2", "07c517f3-85e7-4f6b-93b7-66a9f119d742", new int[] { 67, 105, 59, 132, 63, 175, 34, 19, 50, 157, 120, 86, -1, -1, -1, 75 });
// Walk 3
_reversePosition.Config.AddFrame("Walk 3", "4428bd29-b7a4-4ae0-98ae-30ec4ab8aece", new int[] { 60, 119, 74, 110, 90, 174, 28, 20, 50, 154, 120, 86, -1, -1, -1, 90 });
// Walk 4
_reversePosition.Config.AddFrame("Walk 4", "a088300d-fc82-4233-82da-a6322e49b5a0", new int[] { 68, 113, 76, 101, 105, 177, 1, 30, 50, 156, 120, -1, -1, -1, -1, 114 });
// Walk 5
_reversePosition.Config.AddFrame("Walk 5", "0010fb5b-31db-46ac-8cf1-90fd650736a7", new int[] { 90, 90, 90, 90, 105, 162, 1, 30, 50, 155, 119, -1, -1, -1, -1, 104 });
// Walk 6
_reversePosition.Config.AddFrame("Walk 6", "70858915-cbfc-465a-a7f3-381cd852865b", new int[] { 119, 58, 113, 73, 105, 145, 1, 30, 50, 154, 116, -1, -1, -1, -1, 106 });
// Walk 7
_reversePosition.Config.AddFrame("Walk 7", "47a28429-a0f0-4eed-842d-dedf5ce06cab", new int[] { 110, 70, 120, 60, 90, 151, 1, 30, 50, 153, 130, -1, -1, -1, -1, 90 });
// Walk 8
_reversePosition.Config.AddFrame("Walk 8", "9d5e2ca5-6b0d-4b1b-9fe3-74a4f7d5f8b2", new int[] { 105, 80, 120, 59, 60, 180, 11, 29, 50, 153, 132, -1, -1, -1, -1, 75 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Reverse
_reversePosition.Config.AddAction(
new AutoPositionAction(
"Reverse",
"REVERSE",
false,
true,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("9d5e2ca5-6b0d-4b1b-9fe3-74a4f7d5f8b2", 45, 2, 1),
new AutoPositionActionFrame("47a28429-a0f0-4eed-842d-dedf5ce06cab", 45, 2, -1),
new AutoPositionActionFrame("70858915-cbfc-465a-a7f3-381cd852865b", 45, 2, -1),
new AutoPositionActionFrame("0010fb5b-31db-46ac-8cf1-90fd650736a7", 45, 2, -1),
new AutoPositionActionFrame("a088300d-fc82-4233-82da-a6322e49b5a0", 45, 2, -1),
new AutoPositionActionFrame("4428bd29-b7a4-4ae0-98ae-30ec4ab8aece", 45, 2, -1),
new AutoPositionActionFrame("07c517f3-85e7-4f6b-93b7-66a9f119d742", 45, 2, -1),
new AutoPositionActionFrame("8fa6270a-e145-4db6-b9d0-a13899f685d1", 45, 2, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
public SquatGrabPositions(EZ_B.EZB ezb)
{
_squatGrabPosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_squatGrabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Grab1
_squatGrabPosition.Config.AddFrame("Grab1", "557a05bd-112b-493b-8eef-94ab7f7ba1d8", new int[] { 150, 56, 32, 128, 90, 114, 28, 18, 90, 153, 104, 90, 48, 85, 86, 90 });
// Grab2
_squatGrabPosition.Config.AddFrame("Grab2", "a9f20725-44f1-4c4d-afdb-84b280484e3c", new int[] { 151, 56, 29, 127, 90, 109, 28, 18, 90, 153, 104, 90, 83, 85, 86, 90 });
// Grab3
_squatGrabPosition.Config.AddFrame("Grab3", "1dc1a794-5bdb-4706-8488-117db07baa48", new int[] { 90, 90, 90, 90, 90, 54, 28, 18, 90, 153, 104, 90, 83, 85, 86, 90 });
// Grab4
_squatGrabPosition.Config.AddFrame("Grab4", "4d96e2cf-8c6e-4302-9bda-f3d484a52f12", new int[] { 90, 90, 90, 90, 90, 121, 28, 18, 90, 153, 104, 90, 83, 85, 86, 90 });
// Pause
_squatGrabPosition.Config.AddFrame("Pause", "PAUSE", new int[] { 47, 46, 48, 46, 42, 13, 2, 53, 53, 48, 50, 46, 52, 157, 82, 113 });
// STAND
_squatGrabPosition.Config.AddFrame("STAND", "e3333875-865c-4b9f-a35f-589ef7b56abb", new int[] { 90, 90, 90, 90, 90, 180, 1, 30, 60, 150, 120, 90, 90, 90, 90, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Grab
_squatGrabPosition.Config.AddAction(
new AutoPositionAction(
"Grab",
"1f60fbf3-4e1a-44e2-9f5f-acfc31fe0c31",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("557a05bd-112b-493b-8eef-94ab7f7ba1d8", 75, 10, 1),
new AutoPositionActionFrame("PAUSE", 345, 3, -1),
new AutoPositionActionFrame("a9f20725-44f1-4c4d-afdb-84b280484e3c", 75, 6, -1),
new AutoPositionActionFrame("PAUSE", 345, 3, -1),
new AutoPositionActionFrame("1dc1a794-5bdb-4706-8488-117db07baa48", 25, 3, -1),
new AutoPositionActionFrame("4d96e2cf-8c6e-4302-9bda-f3d484a52f12", 25, 3, -1),
new AutoPositionActionFrame("1dc1a794-5bdb-4706-8488-117db07baa48", 25, 3, -1),
new AutoPositionActionFrame("4d96e2cf-8c6e-4302-9bda-f3d484a52f12", 25, 3, -1),
new AutoPositionActionFrame("1dc1a794-5bdb-4706-8488-117db07baa48", 25, 3, -1),
new AutoPositionActionFrame("4d96e2cf-8c6e-4302-9bda-f3d484a52f12", 25, 3, -1),
new AutoPositionActionFrame("1dc1a794-5bdb-4706-8488-117db07baa48", 25, 3, -1),
new AutoPositionActionFrame("a9f20725-44f1-4c4d-afdb-84b280484e3c", 75, 6, -1),
new AutoPositionActionFrame("PAUSE", 345, 3, -1),
new AutoPositionActionFrame("557a05bd-112b-493b-8eef-94ab7f7ba1d8", 75, 6, -1),
new AutoPositionActionFrame("PAUSE", 315, 3, -1),
new AutoPositionActionFrame("e3333875-865c-4b9f-a35f-589ef7b56abb", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
public LeftPositions(EZ_B.EZB ezb)
{
_leftPosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_leftPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Pause
_leftPosition.Config.AddFrame("Pause", "PAUSE", new int[] { 47, 46, 48, 46, 42, 13, 2, 53, 53, 48, 50, 46, 52, 157, 82, 113 });
// STAND
_leftPosition.Config.AddFrame("STAND", "e3333875-865c-4b9f-a35f-589ef7b56abb", new int[] { 90, 90, 90, 90, 90, 180, 1, 30, 60, 150, 120, 90, 90, 90, 90, 90 });
// Walk 4
_leftPosition.Config.AddFrame("Walk 4", "a088300d-fc82-4233-82da-a6322e49b5a0", new int[] { 68, 113, 76, 101, 105, 177, 1, 30, 50, 156, 120, -1, -1, -1, -1, 114 });
// Walk 5
_leftPosition.Config.AddFrame("Walk 5", "0010fb5b-31db-46ac-8cf1-90fd650736a7", new int[] { 90, 90, 90, 90, 105, 162, 1, 30, 50, 155, 119, -1, -1, -1, -1, 104 });
// Walk 6
_leftPosition.Config.AddFrame("Walk 6", "70858915-cbfc-465a-a7f3-381cd852865b", new int[] { 119, 58, 113, 73, 105, 145, 1, 30, 50, 154, 116, -1, -1, -1, -1, 106 });
// Walk 7
_leftPosition.Config.AddFrame("Walk 7", "47a28429-a0f0-4eed-842d-dedf5ce06cab", new int[] { 110, 70, 120, 60, 90, 151, 1, 30, 50, 153, 130, -1, -1, -1, -1, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Left
_leftPosition.Config.AddAction(
new AutoPositionAction(
"Left",
"LEFT",
false,
true,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("a088300d-fc82-4233-82da-a6322e49b5a0", 45, 10, 1),
new AutoPositionActionFrame("PAUSE", 155, 3, -1),
new AutoPositionActionFrame("0010fb5b-31db-46ac-8cf1-90fd650736a7", 45, 2, -1),
new AutoPositionActionFrame("70858915-cbfc-465a-a7f3-381cd852865b", 45, 2, -1),
new AutoPositionActionFrame("PAUSE", 105, 3, -1),
new AutoPositionActionFrame("47a28429-a0f0-4eed-842d-dedf5ce06cab", 45, 2, -1),
new AutoPositionActionFrame("e3333875-865c-4b9f-a35f-589ef7b56abb", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
public RightPositions(EZ_B.EZB ezb)
{
_RightPosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_RightPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Pause
_RightPosition.Config.AddFrame("Pause", "PAUSE", new int[] { 47, 46, 48, 46, 42, 13, 2, 53, 53, 48, 50, 46, 52, 157, 82, 113 });
// STAND
_RightPosition.Config.AddFrame("STAND", "e3333875-865c-4b9f-a35f-589ef7b56abb", new int[] { 90, 90, 90, 90, 90, 180, 1, 30, 60, 150, 120, 90, 90, 90, 90, 90 });
// Walk 1
_RightPosition.Config.AddFrame("Walk 1", "8fa6270a-e145-4db6-b9d0-a13899f685d1", new int[] { 90, 90, 90, 90, 70, 180, 21, 23, 53, 153, 120, 86, -1, -1, -1, 75 });
// Walk 2
_RightPosition.Config.AddFrame("Walk 2", "07c517f3-85e7-4f6b-93b7-66a9f119d742", new int[] { 67, 105, 59, 132, 63, 175, 34, 19, 50, 157, 120, 86, -1, -1, -1, 75 });
// Walk 3
_RightPosition.Config.AddFrame("Walk 3", "4428bd29-b7a4-4ae0-98ae-30ec4ab8aece", new int[] { 60, 119, 74, 110, 90, 174, 28, 20, 50, 154, 120, 86, -1, -1, -1, 90 });
// Walk 8
_RightPosition.Config.AddFrame("Walk 8", "9d5e2ca5-6b0d-4b1b-9fe3-74a4f7d5f8b2", new int[] { 105, 80, 120, 59, 60, 180, 11, 29, 50, 153, 132, -1, -1, -1, -1, 75 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Right
_RightPosition.Config.AddAction(
new AutoPositionAction(
"Right",
"RIGHT",
false,
true,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("9d5e2ca5-6b0d-4b1b-9fe3-74a4f7d5f8b2", 45, 2, 1),
new AutoPositionActionFrame("PAUSE", 155, 3, -1),
new AutoPositionActionFrame("8fa6270a-e145-4db6-b9d0-a13899f685d1", 45, 2, -1),
new AutoPositionActionFrame("07c517f3-85e7-4f6b-93b7-66a9f119d742", 45, 2, -1),
new AutoPositionActionFrame("PAUSE", 105, 3, -1),
new AutoPositionActionFrame("4428bd29-b7a4-4ae0-98ae-30ec4ab8aece", 45, 2, -1),
new AutoPositionActionFrame("e3333875-865c-4b9f-a35f-589ef7b56abb", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
public GrabPositions(EZ_B.EZB ezb)
{
_grabPosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_grabPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Basic
_grabPosition.Config.AddFrame("Basic", "b12a5018-1e18-40db-a16c-a02d61e00136", new int[] { 90, 88, 90, 91, 90, 180, 180, 180, 90, 180, 90, 90, 90, 90, 90, 85 });
// Righthandup
_grabPosition.Config.AddFrame("Righthandup", "f1992a64-aaff-41a1-8359-196139767375", new int[] { 90, 90, 90, 90, 90, 174, 90, 90, 90, 178, 90, 90, 90, 90, 90, 90 });
// Righthandmoveforward
_grabPosition.Config.AddFrame("Righthandmoveforward", "9b2ad226-f9f7-44e4-af3d-f19fe1eb1b78", new int[] { 90, 90, 90, 90, 90, 180, 90, 4, 10, 180, 90, 37, 90, 90, 90, 90 });
// Righthandgrab
_grabPosition.Config.AddFrame("Righthandgrab", "731ce137-2d41-4f2b-9c23-894e09219fab", new int[] { 90, 90, 90, 90, 90, 180, 90, 4, 10, 180, 90, 78, 90, 90, 90, 90 });
// Drink
_grabPosition.Config.AddFrame("Drink", "8ec774f1-ffe9-4781-b7d5-e8485b297c90", new int[] { 90, 90, 90, 90, 90, 180, 161, 4, 10, 180, 90, 78, 90, 55, 90, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Takefood
_grabPosition.Config.AddAction(
new AutoPositionAction(
"Takefood",
"c710cafd-5456-47d4-86f6-3dae6382799a",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("f1992a64-aaff-41a1-8359-196139767375", 25, 3, -1),
new AutoPositionActionFrame("b12a5018-1e18-40db-a16c-a02d61e00136", 25, 3, -1),
new AutoPositionActionFrame("9b2ad226-f9f7-44e4-af3d-f19fe1eb1b78", 25, 3, -1),
new AutoPositionActionFrame("731ce137-2d41-4f2b-9c23-894e09219fab", 125, 3, -1),
new AutoPositionActionFrame("8ec774f1-ffe9-4781-b7d5-e8485b297c90", 25, 3, -1),
new AutoPositionActionFrame("731ce137-2d41-4f2b-9c23-894e09219fab", 25, 3, -1),
new AutoPositionActionFrame("8ec774f1-ffe9-4781-b7d5-e8485b297c90", 25, 3, -1),
new AutoPositionActionFrame("731ce137-2d41-4f2b-9c23-894e09219fab", 25, 3, -1),
new AutoPositionActionFrame("8ec774f1-ffe9-4781-b7d5-e8485b297c90", 25, 3, -1),
new AutoPositionActionFrame("731ce137-2d41-4f2b-9c23-894e09219fab", 25, 3, -1),
new AutoPositionActionFrame("9b2ad226-f9f7-44e4-af3d-f19fe1eb1b78", 79, 3, -1),
new AutoPositionActionFrame("b12a5018-1e18-40db-a16c-a02d61e00136", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
