private void checkBox1_Click(object sender, EventArgs e)
{
alligned = AlignWithRobotCheckBox.Checked && connected;
AlignWithRobotCheckBox.Checked = alligned;
if (alligned)
{
int basepos = RobotArm.baseServo(arm.links[1].angley);
int link2pos = RobotArm.link2Servo(arm.links[2].anglez);
int link3pos = RobotArm.link3Servo(arm.links[3].anglez);
int link4pos = RobotArm.link4Servo(arm.links[4].anglez);
int grippos = RobotArm.link5Servo(arm.links[5].anglex);
int effwidth = RobotArm.gripServo(arm.effectorwidth);
String cmd = ((Servo0BaseIndexRadio.Checked) ? " #0 P" : "#1 P") + Convert.ToString(basepos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #1 P" : " #2 P") + Convert.ToString(link2pos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #2 P" : " #3 P") + Convert.ToString(link3pos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #3 P" :" #4 P") + Convert.ToString(link4pos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #1 P" : " #5 P") + Convert.ToString(grippos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #1 P" : " #6 P") + Convert.ToString(effwidth) + " T100\r";
serialPort1.Write(cmd);
}
}
private void button11_Click(object sender, EventArgs e)
{
if (arm == null)
{
return;
}
int angdeg = (int)Link5Numeric.Value;
double angle = angdeg * Math.PI / 180;
arm.links[5] = ArmLink.rotateX(arm.links[5], angle);
g.Clear(Color.White);
arm.drawArmcyl(xdim, ydim, g);
double[][] effector = arm.linkPosition(6);
Link5AngleText.Text = Convert.ToString(arm.links[5].anglex * 180 / Math.PI);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
EulerParams orientation = arm.linkAngles(6);
yawText.Text = Convert.ToString(orientation.Yaw * 180 / Math.PI);
pitchText.Text = Convert.ToString(orientation.Pitch * 180 / Math.PI);
rollText.Text = Convert.ToString(orientation.Roll * 180 / Math.PI);
if (connected)
{
if (alligned)
{
String cmd;
if (Servo0BaseIndexRadio.Checked)
{
cmd = "#4 P";
}
else
{
cmd = " #5 P";
}
int link5pos = RobotArm.link5Servo(arm.links[5].anglex);
cmd += Convert.ToString(link5pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
}
}
}