public void Move(string command)
{
var commands = CommandParser.Parse(command);
var code = 0;
foreach (var c in commands)
{
Joint joint = null;
this.JointCommands.TryGetValue(c.Item1, out joint);
if (joint == null)
return; //error, the code should return a joint
if (c.Item2 == 1)
{
if (joint.MoveUp(Miliseconds)) code = code + CommandParser.GetCombinedCodeForCommands(c);
}
else if (c.Item2 == 2)
{
if (joint.MoveDown(Miliseconds)) code = code + CommandParser.GetCombinedCodeForCommands(c); ;
}
else
return; //error, up is 1, down is 2
}
var arm = new MaplinRobotArm();
arm.Connect();
arm.Update(code);
Thread.Sleep(Miliseconds);
arm.ResetArm();
arm.Update(0);
arm.Cleanup();
}
public void Move(string command)
{
var commands = CommandParser.Parse(command);
var code = 0;
foreach (var c in commands)
{
Joint joint = null;
this.JointCommands.TryGetValue(c.Item1, out joint);
if (joint == null)
{
return; //error, the code should return a joint
}
if (c.Item2 == 1)
{
if (joint.MoveUp(Miliseconds))
{
code = code + CommandParser.GetCombinedCodeForCommands(c);
}
}
else if (c.Item2 == 2)
{
if (joint.MoveDown(Miliseconds))
{
code = code + CommandParser.GetCombinedCodeForCommands(c);
}
;
}
else
{
return; //error, up is 1, down is 2
}
}
var arm = new MaplinRobotArm();
arm.Connect();
arm.Update(code);
Thread.Sleep(Miliseconds);
arm.ResetArm();
arm.Update(0);
arm.Cleanup();
}