/// <summary>
/// preferred method for Head pan/tilt control
/// </summary>
/// <param name="panDegreesFromCenter"></param>
/// <param name="tiltDegreesFromCenter"></param>
public void setPanTilt(double panDegreesFromCenter, double tiltDegreesFromCenter)
{
currentPan = panDegreesFromCenter;
double mksPan = PanTiltAlignment.getInstance().mksPan(panDegreesFromCenter);
int panMks = (int)mksPan;
currentTilt = tiltDegreesFromCenter;
double mksTilt = PanTiltAlignment.getInstance().mksTilt(tiltDegreesFromCenter);
int tiltMks = (int)mksTilt;
if (panMks != panMksLast || tiltMks != tiltMksLast)
{
panMksLast = panMks;
tiltMksLast = tiltMks;
Debug.WriteLine("setPanTilt: panMks=" + panMks + " tiltMks=" + tiltMks);
ToArduino toArduino1 = new ToArduino {
channel = (int)AnimationChannels.PAN, command = (int)AnimationCommands.SET_VALUE, commandValues = new int[] { panMks }
};
ToArduino toArduino2 = new ToArduino {
channel = (int)AnimationChannels.TILT, command = (int)AnimationCommands.SET_VALUE, commandValues = new int[] { tiltMks }
};
SendToArduino2(toArduino1, toArduino2);
}
}
public static PanTiltAlignment getInstance()
{
if (instance == null)
{
instance = new PanTiltAlignment();
}
return(instance);
}
/// <summary>
/// Jaw open angle
/// </summary>
/// <param name="degreesFromCenter"></param>
public void setJaw(double degreesFromCenter)
{
currentJaw = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksTilt(degreesFromCenter);
setJawMks((int)mks);
}
/// <summary>
/// Head pan
/// </summary>
/// <param name="degreesFromCenter"></param>
public void setPan(double degreesFromCenter)
{
currentPan = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksPan(degreesFromCenter);
setPanMks((int)mks);
}
public static PanTiltAlignment getInstance()
{
if (instance == null)
{
instance = new PanTiltAlignment();
}
return instance;
}
public static PanTiltAlignment RestoreOrDefault()
{
if (File.Exists(filename))
{
using (TextReader reader = new StreamReader(filename))
{
XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(PanTiltAlignment));
instance = (PanTiltAlignment)x.Deserialize(reader);
}
}
else
{
instance = new PanTiltAlignment();
}
return(instance);
}
public static PanTiltAlignment RestoreOrDefault()
{
if (File.Exists(filename))
{
using (TextReader reader = new StreamReader(filename))
{
XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(PanTiltAlignment));
instance = (PanTiltAlignment)x.Deserialize(reader);
}
}
else
{
instance = new PanTiltAlignment();
}
return instance;
}
private void Window_Loaded(object sender, EventArgs e)
{
_panTiltAlignment = PanTiltAlignment.RestoreOrDefault();
OpenBrickConnector();
SafePosture();
this.ListAnimCombos.ItemsSource = animationCombo.Keys;
this.ListAnim.ItemsSource = animations.Keys;
speak("Ready for action!");
}