private void setScan1(int X, int Y)
{
if (positionCounter == 0)
{
Bitmap preciseMapBmp = mainForm.environment.preciseMap.GetBitmap();
Graphics graphics = Graphics.FromImage(preciseMapBmp);
if (mainForm.environment.canRobotStayOnThisPoint(X, Y))
{
double l_rl2 = Parameters.getSquaredDistance(currentRobotPosX, currentRobotPosY, X, Y);
if (l_rl2 <= Parameters.getL_max2())
{
Console.WriteLine("First scan on " + X + "," + Y);
crosslinker.setCenter1(X - currentErrorX, Y - currentErrorY);
crosslinker.scan1 = mainForm.environment.getScan(X, Y, Parameters.finishColor);
positionCounter++;
drawPieSupposedZone(preciseMapBmp);
interfaceDrawing(preciseMapBmp, graphics);
}
}
}
}
private void setScan1(int X, int Y)
{
if (positionCounter == 1)
{
Bitmap preciseMapBmp = mainForm.environment.preciseMap.GetBitmap();
Graphics graphics = Graphics.FromImage(preciseMapBmp);
if (mainForm.environment.canRobotStayOnThisPoint(X, Y))
{
double l_rl2 = Parameters.getSquaredDistance(crosslinker.getXY0(), X, Y);
if (l_rl2 <= Parameters.getL_max2())
{
crosslinker.setCenter1(X, Y);
crosslinker.scan1 = mainForm.environment.getScan(X, Y, Parameters.finishColor);
MainForm.drawBitmapOnPictureBox(pictureBox3, crosslinker.scan1.getBitmap());
positionCounter++;
drawPieSupposedZone(preciseMapBmp);
textBox2Scan1Center.Text = X + "," + Y;
interfaceDrawing(preciseMapBmp, graphics);
}
}
}
}