/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
/// <param name="command">The movement command (velocity, acceleration)</param>
/// <param name="duration">The duration of movement</param>
internal void Go(MotionCommand command, double duration)
{
logger.Debug("Enter: Go(MotionCommand, double)");
if (command.innerPosition == Hulk.ANY_MOTION)
{
// Moving with given velocity/acceleration and (optionally) duration.
logger.Info("Starting rotation task with given velocity, acceleration, and duration.");
Hulk.SetCommandType(Hulk.CommandType.Velocity);
if (duration == -1.0)
{
stopTime = DateTime.MinValue;
}
else
{
stopTime = DateTime.Now.AddSeconds(duration);
}
Hulk.SetCommand(command);
Hulk.StartTask();
}
else
{
// Moving to the given position.
logger.Info("Starting rotation task to given position.");
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
Hulk.SetCommand(command);
Hulk.StartDefinedMove(false);
}
}
/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
/// <param name="sender">Not used</param>
/// <param name="e">Not used</param>
internal void Go()
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Go()");
Hulk.Halt();
startOuterPosition = Hulk.CurrentMotion.outerPosition;
startInnerPosition = Hulk.CurrentMotion.innerPosition;
logger.Info("Starting position task with center at OUTER=" + startOuterPosition.ToString("F1") +
" INNER=" + startInnerPosition.ToString("F1") + ".");
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
newMotionCommand = new MotionCommand {
outerVelocity = POSITIONING_VELOCITY,
innerVelocity = POSITIONING_VELOCITY,
outerAcceleration = POSITIONING_ACCELERATION,
innerAcceleration = POSITIONING_ACCELERATION
};
Hulk.SetCommand(newMotionCommand);
Hulk.StartTask();
}
/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
/// <param name="command">The movement command (velocity, acceleration)</param>
/// <param name="duration">The duration of movement</param>
internal void Go(MotionCommand command, double duration)
{
logger.Debug("Enter: Go(MotionCommand, double)");
if (command.innerPosition == Hulk.ANY_MOTION)
{
// Moving with given velocity/acceleration and (optionally) duration.
logger.Info("Starting UnrealLandscapesDemoTask with given duration.");
Hulk.SetCommandType(Hulk.CommandType.Velocity);
Hulk.SetCommand(command);
Hulk.StartTask();
}
else
{
// Moving to the given position.
logger.Info("Starting UnrealLandscapesDemoTask to given position.");
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
Hulk.SetCommand(command);
Hulk.StartDefinedMove(false);
}
}
/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
internal void Go()
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Go()");
logger.Info("Starting passive movement task.");
previousTrigger = false;
numClicks = 0;
lastPositionOuter = Hulk.CurrentMotion.outerPosition;
lastPositionInner = Hulk.CurrentMotion.innerPosition;
currentTrialNumber = Recordings.GetFirstTrialNumber();
DataLogger.AcquireDataLog(String.Format("recording{0:000}.csv", currentTrialNumber), dataLogHeader);
runningStopwatch.Reset();
runningStopwatch.Start();
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
newMotionCommand = new MotionCommand {
outerVelocity = POSITIONING_VELOCITY,
innerVelocity = POSITIONING_VELOCITY,
outerAcceleration = POSITIONING_ACCELERATION,
innerAcceleration = POSITIONING_ACCELERATION
};
Hulk.SetCommand(newMotionCommand);
Hulk.StartTask();
}
/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
/// <param name="functionFilename">The filename of the CSV file containing the forcing function</param>
/// <param name="selectedAmplitude">The amplitude of the forcing function</param>
/// <param name="selectedOffset">???</param>
internal void Go(string functionFilename, double selectedAmplitude, double selectedOffset)
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Go()");
logger.Info("Starting delay measurement task.");
amplitude = selectedAmplitude;
// Move to the start location
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
newMotionCommand = new MotionCommand();
newMotionCommand.innerPosition = selectedOffset;
newMotionCommand.outerPosition = 0.0;
newMotionCommand.outerVelocity = Hulk.NORMAL_VELOCITY;
newMotionCommand.innerVelocity = Hulk.NORMAL_VELOCITY;
newMotionCommand.outerAcceleration = Hulk.NORMAL_ACCELERATION;
newMotionCommand.innerAcceleration = Hulk.NORMAL_ACCELERATION;
Hulk.SetCommand(newMotionCommand);
Hulk.StartDefinedMove(false);
while (Hulk.SystemStatus != Hulk.Status.Idling)
{
Thread.Sleep(100);
}
// Prepare for trial
DataLogger.AcquireDataLog(Path.GetFileNameWithoutExtension(functionFilename) +
"_Amplitude" + amplitude.ToString("F1") + "_Offset" + selectedOffset.ToString("F1") + "_data.csv", dataLogHeader);
runningStopwatch.Reset();
runningStopwatch.Start();
// Start task
Hulk.SetCommandType(Hulk.CommandType.Velocity);
Hulk.StartTask();
}
