Пример #1
0
        public MainWindow()
        {
            InitializeComponent();

            this.TextToSpeechProxy = new TextToSpeechProxy(NAO_IP_ADDRESS, NAO_PORT);
            this.BehaviorManagerProxy = new BehaviorManagerProxy(NAO_IP_ADDRESS, NAO_PORT);
            this.LedsProxy = new LedsProxy(NAO_IP_ADDRESS, NAO_PORT);
        }
Пример #2
0
        public MainWindow()
        {
            InitializeComponent();

            this.TextToSpeechProxy    = new TextToSpeechProxy(NAO_IP_ADDRESS, NAO_PORT);
            this.BehaviorManagerProxy = new BehaviorManagerProxy(NAO_IP_ADDRESS, NAO_PORT);
            this.LedsProxy            = new LedsProxy(NAO_IP_ADDRESS, NAO_PORT);
        }
Пример #3
0
        public bool connect(string ip, bool onlymotion = false)
        {
            this.IP = ip;

            bool b = false;
            try
            {
                proxyMotion = new MotionProxy(ip, Port);


                if (onlymotion == false)
                {
	                bool bc = proxyMotion.setCollisionProtectionEnabled("Arms", false);
	                if (!bc)
	                    Console.WriteLine("Failed to disable collision protection");

                    StartMotorMonitor();
	
	                proxyBehaviorManager = new BehaviorManagerProxy(ip, Port);
	
	                // Turn off the LEDs
	                proxyLed = new LedsProxy(ip, Port);
	                List<string> ledgroups = proxyLed.listGroups();
	                foreach (string ledgroup in ledgroups)
	                {
	                	proxyLed.off(ledgroup);
	                }

                    // Speech
                    proxyTTS = new TextToSpeechProxy(ip, Port);

                    if (ip != "127.0.0.1")
                    {
	                    // Sentinel
	                    proxySentinel = new SentinelProxy(ip, Port);
	                    // Turning off "Motor hot!"
	                    proxySentinel.enableHeatMonitoring(false);
                    }

                    // camera
                    proxyCamera = new VideoDeviceProxy(ip, Port);
	
	                // IdleMovement
	                InitIdleMovement();
                }

                b = true;
            }
            catch (Exception e)
            {
                Console.WriteLine("MotionProxy.Connect Exception: " + e);
                b = false;
            }

            IsConnected = b;
            return b;
        }
Пример #4
0
 public Leds(string ip, int port)
 {
     LedsProxy led = new LedsProxy(ip, port);
     led.on("ChestLedsRed");
     Thread.Sleep(2000);
     led.on("ChestLedsGreen");
     Thread.Sleep(2000);
     led.off("ChestLeds");
 }
Пример #5
0
 public KinectAudio(String XML,string ip, int port)
     : base(XML)
 {
     auto = true;
     this.ip = ip;
     this.port = port;
     led = new LedsProxy(ip, port);
     readyXML(XML);
     SpeechHypoThread = new List<Thread>();
 }
Пример #6
0
        public NeutralMovement(MotionProxy motionproxy, object LockMotion, MovingSettings ms,
            LedsProxy ledsproxy, object LockLeds)
        {
            setting = ms;

            ALMotion = motionproxy;
            this.LockMotion = LockMotion;
            ALLeds = ledsproxy;
            this.LockLeds = LockLeds;

            mItems = setting.WhatToMove;
        }
 public MainWindow(string ip,int port,int condition)
     : this()
 {
     this.ip = ip;
     this.port = port;
     this.condition = condition;
     this.started = false;
     led = new LedsProxy(ip, port);
     led.off("ChestLeds");
     led.on("ChestLedsGreen");
     completeCheck = new Check.Check();
 }
 public MainWindow(string ip,int port,int condition)
     : this()
 {
     this.ip = ip;
     this.port = port;
     led = new LedsProxy(ip, port);
     led.off("ChestLeds");
     led.on("ChestLedsGreen");
     this.condition = condition;
     this.started = false;
     this.interupted = false;
 }
        public MainWindow(string ip, int port, int condition)
        {
            count = 1;
            this.ip = ip;
            this.port = port;
            this.condition = condition;
            ready = true;

            this.Background = new SolidColorBrush(Colors.LightGreen);

            InitializeComponent();
            this.tts = new TextToSpeechProxy(ip, port);

            gazeControl = new GazeControl(ip, port);

            this.led = new LedsProxy(ip, port);
            led.off("ChestLeds");
            led.on("ChestLedsGreen");
            started = false;
        }
        //connect to the Nao robot
        private void ConnectToNao(string nao_ip_address, int nao_port)
        {
            bool success = true;

            try
            {
                TextToSpeechProxy    = new TextToSpeechProxy(nao_ip_address, nao_port);
                BehaviorManagerProxy = new BehaviorManagerProxy(nao_ip_address, nao_port);
                LedsProxy            = new LedsProxy(nao_ip_address, nao_port);
                VideoRecorderProxy   = new VideoRecorderProxy(nao_ip_address, nao_port);
                MotionProxy          = new MotionProxy(nao_ip_address, nao_port);
                AudioProxy           = new AudioDeviceProxy(nao_ip_address, nao_port);
            }
            catch (Exception)
            {
                success = false;
            }
            ConnectButton.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
                                                 new UpdateInterfaceAfterConnectDelegate(UpdateUserInterfaceAfterConnect), success);
        }
        public MainWindow(string ip, int port, int condition)
        {
            this.ip = ip;
            this.port = port;
            this.condition = condition;
            InitializeComponent();
            completeCheck = new Check.Check();
            ready = true;

            this.Background = new SolidColorBrush(Colors.LightGreen);

            gazeControl = new GazeControl(ip, port);
            kinect = new HCI.GAS.Kinect.KinectAudio("XMLs\\Thoughtfulness_Grammar.xml",ip,port);
            led = new LedsProxy(ip, port);
            led.off("ChestLeds");
            led.on("ChestLedsGreen");

            //TODO: check if auto has been depreciated.
            kinect.auto = false;

            end = false;
            tts = new TextToSpeechProxy(ip, port);
        }
 private void ConnectToNao(string nao_ip_address, int nao_port)
 {
     bool success = true;
     try
     {
         TextToSpeechProxy = new TextToSpeechProxy(nao_ip_address, nao_port);
         BehaviorManagerProxy = new BehaviorManagerProxy(nao_ip_address, nao_port);
         LedsProxy = new LedsProxy(nao_ip_address, nao_port);
         VideoRecorderProxy = new VideoRecorderProxy(nao_ip_address, nao_port);
     }
     catch (Exception)
     {
         success = false;
     }
     ConnectButton.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
         new UpdateInterfaceAfterConnectDelegate(UpdateUserInterfaceAfterConnect), success);
 }
Пример #13
0
 public void ledOff()
 {
     LedsProxy led = new LedsProxy(coms.naoStatus.ip, coms.naoStatus.port);
     led.off("ChestLeds");
 }
 private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
 {
     end = true;
     if (gazeControl != null)
         gazeControl.end();
     if (kinect != null)
         kinect.EndKinect();
     LedsProxy led = new LedsProxy(ip, port);
     led.off("ChestLeds");
     led.on("ChestLedsRed");
     kinect = null;
 }
        /*XboxController cuntroller;
         *
         * void button_pressed(object sender, XboxControllerStateChangedEventArgs e)
         * {
         *  if(cuntroller.IsAPressed)
         *      Console.WriteLine();
         * }*/

        static void Main(string[] args)
        {
            //cuntroller = XboxController.RetrieveController(0);
            //cuntroller.StateChanged += button_pressed;

            string IP = "192.168.0.1";
            //string IP = "169.254.226.148";
            //string IP = "127.0.0.1";

            int port = 9559;

            /*List<float> RAngle = new List<float>{-0.4662941f, -0.4632261f, -0.558418f, 1.326952f, -0.628898f, 0.3977605f};
             * List<float> LAngle = new List<float> { -0.4662941f, 0.009245962f, -0.866668f, 0.6427041f, 0.371186f, -0.07205604f };
             * List<float> LLeg = new List<float> { -0.02143404f, 0.02765396f, -1.53589f, -0.09232792f, 0.233126f, -0.01683204f };*/

            //ARE THE ROTATIONS IN RADIANS?
            List <float> RLeg = new List <float> {
                -0.461692f, -0.5092461f, -0.208666f, 0.6903419f, -0.21932f, 0.3977605f
            };
            List <float> LLeg = new List <float> {
                -0.461692f, 0.174918f, -0.400332f, 0.57214f, 0.118076f, -0.147222f
            };
            List <float> RArm = new List <float> {
                0.22554f, 0.151824f, 1.17807f, 1.544616f, 1.263974f, 0.322f
            };
            List <float> LArm = new List <float> {
                0.4463521f, -0.280764f, -1.075376f, -1.544616f, -0.736362f, 0.3216f
            };
            List <float> LPunch = new List <float> {
                -0.190258f, -0.05679996f, 0.191708f, -0.16563f, -0.44797f, 0.3216f
            };
            List <float> RPunch = new List <float> {
                -0.02296804f, 0.3141593f, -0.85448f, 0.04299396f, -0.05373196f, 0.03f
            };
            List <float> RHookA = new List <float> {
                0.162646f, -1.16128f, 0.294486f, 1.5141f, 0.277612f, 0.2f
            };
            List <float> RHookB = new List <float> {
                -0.27301f, 0.3141593f, 0.200912f, 0.259288f, -1.127532f, 0.1996f
            };
            List <float> RHookL = new List <float> {
                -0.27301f, 0.3141593f, 0.200912f, 0.259288f, -1.127532f, 0.1996f
            };


            List <float> LHookA = new List <float> {
                0.8329201f, 1.233294f, -1.112192f, -1.524754f, 0.004560038f, 0.3216f
            };
            List <float> LHookB = new List <float> {
                -0.23321f, -0.21787f, -0.467912f, -0.122678f, 0.38039f, 0.3216f
            };
            List <float> LuA = new List <float> {
                1.246329f, -0.2638353f, -1.11164f, -1.202817f, -1.6675f, 0.3252f
            };
            List <float> LuB = new List <float> {
                0.08279404f, -0.29457f, -1.247184f, -0.8221821f, -1.810162f, 0.3256f
            };

            List <float> STimeA = new List <float> {
                .1f, .1f, .1f, .1f, .1f, .1f
            };
            List <float> RTimeA = new List <float> {
                .3f, .3f, .3f, .3f, .3f, .3f
            };
            List <float> LTimeA = new List <float> {
                .7f, .7f, .7f, .7f, .7f, .7f
            };

            List <float> LDrop = new List <float> {
                -0.05986796f, -0.285366f, -1.807094f, -0.16563f, -1.241048f, 0.4088f
            };
            List <float> RDrop = new List <float> {
                -0.07359004f, 0.06592004f, 1.360616f, 0.09975196f, 1.056884f, 0.3212f
            };

            List <float> Rsmash = new List <float> {
                -0.66418f, 0.231592f, 1.518618f, 0.07520796f, 1.245566f, 0.3224f
            };
            List <float> Lsmash = new List <float> {
                -0.64739f, -0.3141593f, -1.40672f, -0.03490658f, -0.85448f, 1f
            };

            List <float> ROut = new List <float> {
                0.57836f, -1.303942f, 1.958876f, 0.09668396f, 0.6319661f, 0.3224f
            };
            List <float> LOut = new List <float> {
                0.7654241f, 1.156594f, -2.00498f, -0.118076f, -0.730226f, 0.322f
            };

            GamePadState cs;
            GamePadState ps = new GamePadState();

            Boolean upper = false;
            Boolean hook  = false;
            Boolean jab   = false;
            Boolean high  = false;

            Random random = new Random();
            int    rNum   = 0;

            TextToSpeechProxy tts    = new TextToSpeechProxy(IP, port);
            MotionProxy       motion = new MotionProxy(IP, port);
            RobotPostureProxy pos    = new RobotPostureProxy(IP, port);
            LedsProxy         led    = new LedsProxy(IP, port);

            Console.WriteLine("hello");

            motion.setStiffnesses("Body", 1.0f);
            //pos.goToPosture("Sit", 1.0f);
            pos.goToPosture("Stand", 1.0f);
            //pos.goToPosture("StandZero", 1f);

            pos.stopMove();

            motion.setWalkArmsEnable(false, false);

            //motion.walkInit();
            motion.post.setAngles("RArm", RArm, 0.2f);
            motion.setAngles("LArm", LArm, 0.2f);

            motion.post.angleInterpolation("RLeg", RLeg, new List <float> {
                1.5f, 1.5f, 1f, 1f, 1f, 1f
            }, true);
            motion.post.angleInterpolation("LLeg", LLeg, new List <float> {
                1f, 1f, 1f, 1f, 1f, 1f
            }, true);

            //motion.post.setAngles("RLeg", RLeg, 0.1f);
            //motion.setAngles("LLeg", LLeg, 0.1f);

            //Console.ReadKey();

            Console.WriteLine();
            //motion.setAngles("LLeg", LLeg, 0.2f);

            //motion.setStiffnesses("Body", 0.0f);
            Console.WriteLine("Set Stiffness");
            string enter = null;// = Console.ReadLine().ToLower();

            #region GAMELOOP
            cs = GamePad.GetState(PlayerIndex.One);

            while (cs.Buttons.Start != ButtonState.Pressed)
            {
                cs = GamePad.GetState(PlayerIndex.One);
                if (!cs.IsConnected)
                {
                    Console.WriteLine("Cuntroller ain't connected");
                }
                #region DEVTOOLS
                if (enter == "stiff")
                {
                    motion.setStiffnesses("Body", 0.5f);
                    //motion.setStiffnesses("RArm", 0.1f);
                    //motion.setStiffnesses("LArm", 0.1f);
                }
                if (enter == "unstiff")
                {
                    //motion.setStiffnesses("Body", 0.0f);
                    motion.setStiffnesses("RLeg", 0.0f);
                    //motion.setStiffnesses("LArm", 0.0f);
                }

                if (enter == "cool")
                {
                    motion.setStiffnesses("Body", 0.0f);
                }

                if (enter == "RLeg")
                {
                    foreach (float x in motion.getAngles("RLeg", false))
                    {
                        Console.Write("{0}f, ", x);
                    }
                }

                if (enter == "LLeg")
                {
                    foreach (float x in motion.getAngles("LLeg", false))
                    {
                        Console.Write("{0}f, ", x);
                    }
                }

                if (enter == "RArm")
                {
                    foreach (float x in motion.getAngles("RArm", false))
                    {
                        Console.Write("{0}f, ", x);
                    }
                }

                if (enter == "LArm")
                {
                    foreach (float x in motion.getAngles("LArm", false))
                    {
                        Console.Write("{0}f, ", x);
                    }
                }
                #endregion
                #region POSTURES
                //POSITION BLOCKS
                if (enter == "b")
                {
                    motion.setAngles("LArm", LArm, 0.2f);
                    motion.setAngles("RArm", RArm, 0.2f);
                }

                if (cs.Buttons.Back == ButtonState.Pressed && ps.Buttons.Back != cs.Buttons.Back)
                {
                    pos.goToPosture("Sit", .5f);
                    motion.setStiffnesses("Body", 0.0f);
                }

                if (cs.Buttons.LeftStick == ButtonState.Pressed && ps.Buttons.LeftStick != cs.Buttons.LeftStick)
                {
                    //tts.post.say("No one makes me bleed my own blood");
                    motion.stopMove();
                    motion.moveInit();
                    //pos.goToPosture("Stand", .8f);
                    //pos.stopMove();
                    motion.post.angleInterpolation("RLeg", RLeg, new List <float> {
                        1.5f, 1.5f, 1f, 1f, 1f, 1f
                    }, true);
                    motion.post.angleInterpolation("LLeg", LLeg, new List <float> {
                        1f, 1f, 1f, 1f, 1f, 1f
                    }, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                #endregion
                #region COMBAT

                //COMBAT BLOCKS
                if (cs.Buttons.A == ButtonState.Pressed && ps.Buttons.A != cs.Buttons.A)
                {
                    upper = false;
                    hook  = false;
                    jab   = true;
                    high  = false;
                }

                if (cs.Buttons.B == ButtonState.Pressed && ps.Buttons.B != cs.Buttons.B)
                {
                    upper = true;
                    hook  = false;
                    jab   = false;
                    high  = false;
                }

                if (cs.Buttons.X == ButtonState.Pressed && ps.Buttons.X != cs.Buttons.X)
                {
                    upper = false;
                    hook  = true;
                    jab   = false;
                    high  = false;
                }

                if (cs.Buttons.Y == ButtonState.Pressed && ps.Buttons.Y != cs.Buttons.Y)
                {
                    upper = false;
                    hook  = false;
                    jab   = false;
                    high  = true;
                }

                if (cs.Triggers.Left != 0 && jab)
                {
                    //Console.WriteLine("lt pressed");
                    motion.angleInterpolation("LArm", LPunch, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                    //motion.post.setAngles("RArm", RPunch, 0.5f);
                    ps = cs;
                }

                if (cs.Triggers.Right != 0 && jab)
                {
                    motion.post.angleInterpolation("RArm", RPunch, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                if (cs.Triggers.Right != 0 && hook)
                {
                    //motion.post.setAngles("RArm", RHookA, 0.3f);
                    // motion.angleInterpolation("RLeg", RHookL, RTimeA, true);
                    motion.angleInterpolation("RArm", RHookA, RTimeA, true);
                    motion.angleInterpolation("RArm", RHookB, RTimeA, true);
                    //motion.angleInterpolation("RLeg", RLeg, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                if (cs.Triggers.Left != 0 && hook)
                {
                    //motion.post.setAngles("RArm", RHookA, 0.3f);
                    motion.angleInterpolation("LArm", LHookA, RTimeA, true);
                    motion.angleInterpolation("LArm", LHookB, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                if ((cs.Triggers.Right != 0 || cs.Triggers.Left != 0) && upper)
                {
                    //motion.post.setAngles("RArm", RHookA, 0.3f);
                    motion.angleInterpolation("LArm", LuA, RTimeA, true);
                    motion.angleInterpolation("LArm", LuB, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                if (cs.Buttons.RightShoulder == ButtonState.Pressed && ps.Buttons.RightShoulder != cs.Buttons.RightShoulder)
                {
                    //motion.post.setAngles("RArm", RHookA, 0.3f);
                    motion.post.angleInterpolation("LArm", LDrop, RTimeA, true);
                    motion.angleInterpolation("RArm", RDrop, RTimeA, true);
                    motion.post.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                if (cs.Buttons.LeftShoulder == ButtonState.Pressed && ps.Buttons.LeftShoulder != cs.Buttons.LeftShoulder)
                {
                    //motion.post.setAngles("RArm", RHookA, 0.3f);
                    motion.post.angleInterpolation("LArm", LOut, RTimeA, true);
                    motion.angleInterpolation("RArm", ROut, RTimeA, true);
                    motion.post.angleInterpolation("LArm", LDrop, RTimeA, true);
                    motion.angleInterpolation("RArm", RDrop, RTimeA, true);
                    motion.post.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                if (cs.Triggers.Left != 0 && high)
                {
                    motion.angleInterpolation("LArm", Lsmash, RTimeA, true);
                    motion.angleInterpolation("LArm", LDrop, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                    //motion.post.setAngles("RArm", RPunch, 0.5f);
                }

                if (cs.Triggers.Right != 0 && high)
                {
                    motion.angleInterpolation("RArm", Rsmash, RTimeA, true);
                    motion.angleInterpolation("RArm", RDrop, RTimeA, true);
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }
                #endregion
                #region MOVEMMENT
                //MOVEMENT BLOCKS
                if (enter == "walk")
                {
                    motion.moveInit();

                    motion.move(3f, 0f, 0f);
                    Console.ReadKey();
                    motion.stopMove();

                    motion.post.angleInterpolation("RLeg", RLeg, new List <float> {
                        1.5f, 1.5f, 1f, 1f, 1f, 1f
                    }, true);
                    motion.post.angleInterpolation("LLeg", LLeg, new List <float> {
                        1f, 1f, 1f, 1f, 1f, 1f
                    }, true);
                }

                if (cs.ThumbSticks.Left.Y > .8)
                {
                    if (ps.ThumbSticks.Left.Y <= 0)
                    {
                        motion.stopMove();
                    }
                    if (ps.ThumbSticks.Left.Y == 0)
                    {
                        motion.moveInit();
                    }

                    motion.move(.1f, 0f, 0f);

                    //motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
                    //motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
                }
                if (cs.ThumbSticks.Left.Y < -.8)
                {
                    if (ps.ThumbSticks.Left.Y >= 0)
                    {
                        motion.stopMove();
                    }
                    if (ps.ThumbSticks.Left.Y == 0)
                    {
                        motion.moveInit();
                    }

                    motion.move(-.15f, 0f, 0f);

                    //motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
                    //motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
                }
                if (cs.ThumbSticks.Left.X > .8)
                {
                    Console.WriteLine(cs.ThumbSticks.Left.X);
                    if (ps.ThumbSticks.Left.X <= 0)
                    {
                        motion.stopMove();
                    }
                    if (ps.ThumbSticks.Left.X == 0)
                    {
                        motion.moveInit();
                    }

                    motion.move(0f, -.15f, 0f);

                    //motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
                    //motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
                }
                if (cs.ThumbSticks.Left.X < -.8)
                {
                    if (ps.ThumbSticks.Left.X >= 0)
                    {
                        motion.stopMove();
                    }
                    if (ps.ThumbSticks.Left.X == 0)
                    {
                        motion.moveInit();
                    }

                    motion.move(0f, .15f, 0f);

                    //motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
                    //motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
                }

                if ((cs.ThumbSticks.Left.Y == 0 && ps.ThumbSticks.Left.Y != 0) || (cs.ThumbSticks.Left.X == 0 && ps.ThumbSticks.Left.X != 0))
                {
                    motion.stopMove();
                }

                if (cs.ThumbSticks.Right.X < -.75)
                {
                    if (ps.ThumbSticks.Right.X >= 0)
                    {
                        motion.stopMove();
                        motion.moveInit();
                    }

                    motion.move(0f, 0f, .3f);
                }

                if (cs.ThumbSticks.Right.X > .75)
                {
                    if (ps.ThumbSticks.Right.X <= 0)
                    {
                        motion.stopMove();
                        motion.moveInit();
                    }

                    motion.move(0f, 0f, -.3f);
                }

                if (cs.ThumbSticks.Right.X == 0 && ps.ThumbSticks.Right.X != 0)
                {
                    motion.stopMove();
                }

                if (cs.DPad.Up == ButtonState.Pressed && ps.DPad.Up != cs.DPad.Up)
                {
                    //tts.post.say("No one makes me bleed my own blood");
                    motion.stopMove();
                    motion.moveInit();
                    pos.goToPosture("Stand", .8f);
                    pos.stopMove();
                }

                if (cs.DPad.Right == ButtonState.Pressed && ps.DPad.Right != cs.DPad.Right)
                {
                    //tts.post.say("No one makes me bleed my own blood");
                    motion.setWalkArmsEnabled(true, true);
                }

                if (cs.DPad.Left == ButtonState.Pressed && ps.DPad.Left != cs.DPad.Left)
                {
                    //tts.post.say("No one makes me bleed my own blood");
                    motion.angleInterpolation("RArm", RArm, RTimeA, true);
                    motion.angleInterpolation("LArm", LArm, RTimeA, true);
                }

                #endregion
                #region TRASHTALKING
                if (cs.Buttons.RightStick == ButtonState.Pressed && ps.Buttons.RightStick != cs.Buttons.RightStick)
                {
                    led.post.rasta(5f);
                    rNum = random.Next(0, 14);
                    switch (rNum)
                    {
                    case 0:
                        tts.post.say("I'm going to put my hard drive in your floopy disk");
                        break;

                    case 1:
                        tts.post.say("I will haunt your dreams, fool. See you tonite.");
                        break;

                    case 2:
                        tts.post.say("Mess with us and we will dismember you");
                        break;

                    case 3:
                        tts.post.say("Everyone Must Die!!!!");
                        break;

                    case 4:
                        tts.post.say("FOOLS");
                        break;

                    case 5:
                        tts.post.say("Meow");
                        break;

                    case 6:
                        tts.post.say("DIE");
                        break;

                    case 7:
                        tts.post.say("Hi I'm Catbug");
                        break;

                    case 8:
                        tts.post.say("I'll bash yer head in, I swear on my mum");
                        break;

                    case 9:
                        tts.post.say("I am I Robot");
                        break;

                    case 10:
                        tts.post.say("Rawr");
                        break;

                    case 11:
                        tts.post.say("Gas Powered Stick");
                        break;

                    case 12:
                        tts.post.say("Locally Grown Butter Lettuce. Butter Lettuce PARTY");
                        break;

                    case 13:
                        tts.post.say("Cake and grief counseling will be available after the fight.");
                        break;
                    }
                }
                #endregion
                //Console.Write("\n");
                //Console.WriteLine(motion.getAngles("RArm", false));
                //enter = Console.ReadLine();
                ps = cs;
            }
            #endregion
        }