private bool ShouldSave()
{
if (joint.cDriver == null)
{
return(true);
}
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;
PneumaticDriverMeta pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
WheelDriverMeta wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
ElevatorDriverMeta elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
Enum.TryParse(MotorTypeDropDown.SelectedItem.ToString(), out MotorType motor);
if (cmbJointDriver.SelectedIndex != typeOptions.ToList().IndexOf(joint.cDriver.GetDriveType()) + 1 ||
txtPort1.Value != joint.cDriver.port1 ||
txtPort2.Value != joint.cDriver.port2 ||
txtLowLimit.Value != (decimal)joint.cDriver.lowerLimit ||
txtHighLimit.Value != (decimal)joint.cDriver.upperLimit ||
inputGear != joint.cDriver.InputGear || outputGear != joint.cDriver.OutputGear ||
rbCAN.Checked != joint.cDriver.isCan || chkBoxHasBrake.Checked != joint.cDriver.hasBrake ||
motor != joint.cDriver.motor)
{
return(true);
}
if (pneumatic != null &&
(numericUpDownPnuDia.Value != (decimal)pneumatic.width ||
cmbPneumaticPressure.SelectedIndex != (int)pneumatic.pressureEnum))
{
return(true);
}
if (wheel != null &&
(cmbWheelType.SelectedIndex != (int)wheel.type ||
cmbFrictionLevel.SelectedIndex != (int)wheel.GetFrictionLevel() ||
chkBoxDriveWheel.Checked != wheel.isDriveWheel))
{
return(true);
}
if (elevator != null)
{
return(true);
}
//If going from "NOT A WHEEL" to a wheel
if (cmbWheelType.SelectedIndex != 0 && wheel == null && joint.cDriver.GetDriveType() == JointDriverType.MOTOR)
{
return(true);
}
return(false);
}
/// <summary>
/// Configures the drivers/motors for this joint.
/// </summary>
private void SetXDrives()
{
//if the node has a joint and driver
if (GetSkeletalJoint() != null && GetSkeletalJoint().cDriver != null)
{
if (GetSkeletalJoint().cDriver.GetDriveType().IsElevator())
{
Debug.Log("swag money");
}
if (GetSkeletalJoint().cDriver.GetDriveType().IsPneumatic())
{
PneumaticDriverMeta pneum = GetSkeletalJoint().cDriver.GetInfo <PneumaticDriverMeta>();
if (pneum != null)
{
const float psiToNMm2 = 0.00689475728f * Init.PHYSICS_MASS_MULTIPLIER;
if (joint is ConfigurableJoint)
{
JointDrive drMode = new JointDrive();
drMode.mode = JointDriveMode.Velocity;
drMode.maximumForce = (psiToNMm2 * pneum.pressurePSI) * (Mathf.PI * Mathf.Pow((pneum.widthMM / 2), 2));
((ConfigurableJoint)joint).xDrive = drMode;
}
}
}
if (GetSkeletalJoint().cDriver.GetDriveType().IsMotor())
{
if (joint is ConfigurableJoint)
{
JointDrive drMode = new JointDrive();
drMode.mode = JointDriveMode.Velocity;
drMode.maximumForce = 100.0f;
((ConfigurableJoint)joint).angularXDrive = drMode;
}
else if (joint is HingeJoint)
{
JointMotor motor = new JointMotor();
motor.force = 100.0f;
motor.freeSpin = false;
((HingeJoint)joint).motor = motor;
((HingeJoint)joint).useMotor = true;
}
}
if (this.HasDriverMeta <WheelDriverMeta>())
{
JointMotor motor = new JointMotor();
motor.force = 0f;
motor.freeSpin = true;
((HingeJoint)joint).motor = motor;
((HingeJoint)joint).useMotor = false;
}
}
}
/// <summary>
/// Used for writing pneumatic driver meta data.
/// </summary>
/// <param name="meta"></param>
/// <param name="writer"></param>
private static void WritePneumaticDriverMeta(PneumaticDriverMeta meta, XmlWriter writer)
{
writer.WriteStartElement("PneumaticDriverMeta");
writer.WriteAttributeString("DriverMetaID", meta.GetID().ToString());
writer.WriteElementString("WidthMM", (meta.width * 25.4).ToString("F4"));
writer.WriteElementString("PressurePSI", meta.pressurePSI.ToString("F4"));
writer.WriteEndElement();
}
private bool shouldSave()
{
if (joint.cDriver == null)
{
return(true);
}
PneumaticDriverMeta pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
WheelDriverMeta wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
ElevatorDriverMeta elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
bool shouldSave = false;
if (cmbJointDriver.SelectedIndex != typeOptions.ToList().IndexOf(joint.cDriver.GetDriveType()) + 1 ||
txtPortA.Value != joint.cDriver.portA ||
txtPortB.Value != joint.cDriver.portB ||
txtLowLimit.Value != (decimal)joint.cDriver.lowerLimit ||
txtHighLimit.Value != (decimal)joint.cDriver.upperLimit)
{
shouldSave = true;
}
if (pneumatic != null &&
(cmbPneumaticDiameter.SelectedIndex != (byte)pneumatic.widthEnum ||
cmbPneumaticPressure.SelectedIndex != (byte)pneumatic.pressureEnum))
{
shouldSave = true;
}
if (wheel != null &&
(cmbWheelType.SelectedIndex != (byte)wheel.type ||
cmbFrictionLevel.SelectedIndex != (byte)Math.Min(Math.Floor(wheel.forwardExtremeValue / 4), 2) || //ayy lmao
chkBoxDriveWheel.Checked != wheel.isDriveWheel))
{
shouldSave = true;
}
if (elevator != null &&
cmbStages.SelectedIndex != (byte)elevator.type)
{
shouldSave = true;
}
//If going from "NOT A WHEEL" to a wheel
if (cmbWheelType.SelectedIndex != 0 && wheel == null && joint.cDriver.GetDriveType() == JointDriverType.MOTOR)
{
shouldSave = true;
}
return(shouldSave);
}
/// <summary>
/// Reads a PneumaticDriverMeta from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static PneumaticDriverMeta ReadPneumaticDriverMeta_3_0(XmlReader reader)
{
// Create a new pneumaticDriverMeta.
PneumaticDriverMeta pneumaticDriverMeta = new PneumaticDriverMeta();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "WidthMM":
// Assign the current element value to widthMM.
pneumaticDriverMeta.widthMM = reader.ReadElementContentAsInt();
break;
case "PressurePSI":
// Assign the current element value to pressurePSI.
pneumaticDriverMeta.pressurePSI = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(pneumaticDriverMeta);
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SaveButton_Click(object sender, EventArgs e)
{
bool canClose = true;
if (!ShouldSave())
{
Close();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;// tries to parse the double from the output gear
joint.cDriver = new JointDriver(cType)
{
port1 = (int)txtPort1.Value,
port2 = (int)txtPort2.Value,
InputGear = inputGear, // writes the input gear to the internal joint driver so it can be exported
OutputGear = outputGear, // writes the output gear to the internal joint driver so it can be exported
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked,
hasBrake = chkBoxHasBrake.Checked
};
if (cType.IsMotor())
{
if (!Enum.TryParse(MotorTypeDropDown.SelectedItem.ToString(), out MotorType motor))
{
motor = MotorType.GENERIC;
}
joint.cDriver.motor = motor;
RobotExporterAddInServer.Instance.AddInSettingsManager.DefaultRobotCompetition = RobotCompetitionDropDown.SelectedItem.ToString();
}
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
wheelDriver.SetFrictionLevel((FrictionLevel)cmbFrictionLevel.SelectedIndex);
joint.cDriver.AddInfo(wheelDriver);
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
width = (double)numericUpDownPnuDia.Value
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = ElevatorType.NOT_MULTI
};
joint.cDriver.AddInfo(elevatorDriver);
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
port1 = joint.cDriver.port1,
port2 = joint.cDriver.port2,
isCan = joint.cDriver.isCan,
OutputGear = joint.cDriver.OutputGear,
InputGear = joint.cDriver.InputGear,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
if (canClose)// make sure there are no outstanding issues for the user to fix before we save
{
Saved = true;
Close();
}
}
public void ShowDialog(SkeletalJoint_Base baseJoint, List <RigidNode_Base> nodes, Form owner)
{
Saved = false;
if (nodes.Count > 1)
{
bool same = true;
foreach (RigidNode_Base node in nodes)
{
JointDriver driver = node.GetSkeletalJoint().cDriver;
if (driver == null || driver.CompareTo(baseJoint.cDriver) != 0)
{
same = false;
}
}
if (same)
{
joint = baseJoint;
}
else
{
joint = SkeletalJoint_Base.JOINT_FACTORY(baseJoint.GetJointType());
}
}
else
{
joint = baseJoint;
}
this.nodes = nodes;
typeOptions = JointDriver.GetAllowedDrivers(joint);
// Used for capitalization
TextInfo textInfo = new CultureInfo("en-US", true).TextInfo;
cmbJointDriver.Items.Clear();
cmbJointDriver.Items.Add("No Driver");
foreach (JointDriverType type in typeOptions)
{
cmbJointDriver.Items.Add(textInfo.ToTitleCase(Enum.GetName(typeof(JointDriverType), type).Replace('_', ' ').ToLowerInvariant()));
}
if (joint.cDriver != null)
{
cmbJointDriver.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType()) + 1;
if (joint.cDriver.port1 < txtPort1.Minimum)
{
txtPort1.Value = txtPort1.Minimum;
}
else if (joint.cDriver.port1 > txtPort1.Maximum)
{
txtPort1.Value = txtPort1.Maximum;
}
else
{
txtPort1.Value = joint.cDriver.port1;
}
if (joint.cDriver.port2 < txtPort2.Minimum)
{
txtPort2.Value = txtPort2.Minimum;
}
else if (joint.cDriver.port2 > txtPort2.Maximum)
{
txtPort2.Value = txtPort2.Maximum;
}
else
{
txtPort2.Value = joint.cDriver.port2;
}
txtLowLimit.Value = (decimal)joint.cDriver.lowerLimit;
txtHighLimit.Value = (decimal)joint.cDriver.upperLimit;
rbPWM.Checked = !joint.cDriver.isCan;
rbCAN.Checked = joint.cDriver.isCan;
chkBoxHasBrake.Checked = joint.cDriver.hasBrake;
if (joint.cDriver.OutputGear == 0)// prevents output gear from being 0
{
joint.cDriver.OutputGear = 1;
}
if (joint.cDriver.InputGear == 0)// prevents input gear from being 0
{
joint.cDriver.InputGear = 1;
}
OutputGeartxt.Value = (decimal)joint.cDriver.OutputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
InputGeartxt.Value = (decimal)joint.cDriver.InputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
{
PneumaticDriverMeta pneumaticMeta = joint.cDriver.GetInfo <PneumaticDriverMeta>();
if (pneumaticMeta != null)
{
numericUpDownPnuDia.Value = (decimal)pneumaticMeta.width;
cmbPneumaticPressure.SelectedIndex = (int)pneumaticMeta.pressureEnum;
}
else
{
numericUpDownPnuDia.Value = (decimal)1.0;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.HIGH;
}
}
{
WheelDriverMeta wheelMeta = joint.cDriver.GetInfo <WheelDriverMeta>();
if (wheelMeta != null)
{
try
{
cmbWheelType.SelectedIndex = (int)wheelMeta.type;
cmbFrictionLevel.SelectedIndex = (int)wheelMeta.GetFrictionLevel();
}
catch
{
// If an exception was thrown (System.ArguementOutOfRangeException) it means
// the user did not choose a wheel type when they were configuring the
// wheel joint
cmbWheelType.SelectedIndex = (int)WheelType.NORMAL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
chkBoxDriveWheel.Checked = wheelMeta.isDriveWheel;
cmbWheelType_SelectedIndexChanged(null, null);
}
else
{
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
}
{
ElevatorDriverMeta elevatorMeta = joint.cDriver.GetInfo <ElevatorDriverMeta>();
}
{
switch (joint.cDriver.motor)
{
case MotorType.GENERIC:
RobotCompetitionDropDown.SelectedItem = RobotExporterAddInServer.Instance.AddInSettingsManager.DefaultRobotCompetition.ToString();
MotorTypeDropDown.SelectedItem = "GENERIC";
break;
case MotorType.CIM:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "CIM";
break;
case MotorType.MINI_CIM:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "MIN_CIM";
break;
case MotorType.BAG_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BAG_MOTOR";
break;
case MotorType.REDLINE_775_PRO:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "REDLINE_775_PRO";
break;
case MotorType.ANDYMARK_9015:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "ANDYMARK_9015";
break;
case MotorType.BANEBOTS_775_18v:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BANEBOTS_775_18v";
break;
case MotorType.BANEBOTS_775_12v:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BANEBOTS_775_12v";
break;
case MotorType.BANEBOTS_550_12v:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BANEBOTS_550_12v";
break;
case MotorType.ANDYMARK_775_125:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "ANDYMARK_775_125";
break;
case MotorType.SNOW_BLOWER:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "SNOW_BLOWER";
break;
case MotorType.NIDEC_BLDC:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "NIDEC_BLDC";
break;
case MotorType.THROTTLE_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "THROTTLE_MOTOR";
break;
case MotorType.WINDOW_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "WINDOW_MOTOR";
break;
case MotorType.NEVEREST:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "NEVEREST";
break;
case MotorType.TETRIX_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "TETRIX_MOTOR";
break;
case MotorType.MODERN_ROBOTICS_MATRIX:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "MODERN_ROBOTICS_MATRIX";
break;
case MotorType.REV_ROBOTICS_HD_HEX_20_TO_1:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "REV_ROBOTICS_HD_HEX_20_TO_1";
break;
case MotorType.REV_ROBOTICS_HD_HEX_40_TO_1:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "REV_ROBOTICS_HD_HEX_40_TO_1";
break;
case MotorType.REV_ROBOTICS_CORE_HEX:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "REV_ROBOTICS_CORE_HEX";
break;
case MotorType.VEX_V5_Smart_Motor_600_RPM:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_V5_Smart_Motor_600_RPM";
break;
case MotorType.VEX_V5_Smart_Motor_200_RPM:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_V5_Smart_Motor_200_RPM";
break;
case MotorType.VEX_V5_Smart_Motor_100_RPM:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_V5_Smart_Motor_100_RPM";
break;
case MotorType.VEX_393_NORMAL_SPEED:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_393_NORMAL_SPEED";
break;
case MotorType.VEX_393_HIGH_SPEED:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_393_HIGH_SPEED";
break;
case MotorType.VEX_393_TURBO_GEAR_SET:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_393_TURBO_GEAR_SET";
break;
}
}
}
else //Default values
{
cmbJointDriver.SelectedIndex = 0;
txtPort1.Value = txtPort1.Minimum;
txtPort2.Value = txtPort2.Minimum;
txtLowLimit.Value = txtLowLimit.Minimum;
txtHighLimit.Value = txtHighLimit.Minimum;
InputGeartxt.Value = (decimal)1.0;
OutputGeartxt.Value = (decimal)1.0;
rbPWM.Checked = true;
chkBoxHasBrake.Checked = false;
numericUpDownPnuDia.Value = (decimal)0.5;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.MEDIUM;
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
chkBoxDriveWheel.Checked = false;
RobotCompetitionDropDown.SelectedItem = RobotExporterAddInServer.Instance.AddInSettingsManager.DefaultRobotCompetition;
MotorTypeDropDown.SelectedItem = "GENERIC";
}
PrepLayout();
base.Location = new System.Drawing.Point(Cursor.Position.X - 10, Cursor.Position.Y - base.Height - 10);
this.ShowDialog(owner);
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SaveButton_Click(object sender, EventArgs e)
{
bool canClose = true;
if (!ShouldSave())
{
Close();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;// tries to parse the double from the output gear
joint.cDriver = new JointDriver(cType)
{
port1 = (int)txtPort1.Value,
port2 = (int)txtPort2.Value,
InputGear = inputGear, // writes the input gear to the internal joint driver so it can be exported
OutputGear = outputGear, // writes the output gear to the internal joint driver so it can be exported
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked,
hasBrake = chkBoxHasBrake.Checked
};
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
#region WHEEL_SAVING
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
wheelDriver.SetFrictionLevel((FrictionLevel)cmbFrictionLevel.SelectedIndex);
joint.cDriver.AddInfo(wheelDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
#region PNEUMATIC_SAVING
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
widthEnum = (PneumaticDiameter)cmbPneumaticDiameter.SelectedIndex
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
#region ELEVATOR_SAVING
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = ElevatorType.NOT_MULTI
};
joint.cDriver.AddInfo(elevatorDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
port1 = joint.cDriver.port1,
port2 = joint.cDriver.port2,
isCan = joint.cDriver.isCan,
OutputGear = joint.cDriver.OutputGear,
InputGear = joint.cDriver.InputGear,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
if (canClose)// make sure there are no outstanding issues for the user to fix before we save
{
Saved = true;
LegacyInterchange.LegacyEvents.OnRobotModified();
Close();
}
}
public void ShowDialog(SkeletalJoint_Base baseJoint, List <RigidNode_Base> nodes, Form owner)
{
Saved = false;
if (nodes.Count > 1)
{
bool same = true;
foreach (RigidNode_Base node in nodes)
{
JointDriver driver = node.GetSkeletalJoint().cDriver;
if (driver == null || driver.CompareTo(baseJoint.cDriver) != 0)
{
same = false;
}
}
if (same)
{
joint = baseJoint;
}
else
{
joint = SkeletalJoint_Base.JOINT_FACTORY(baseJoint.GetJointType());
}
}
else
{
joint = baseJoint;
}
this.nodes = nodes;
typeOptions = JointDriver.GetAllowedDrivers(joint);
// Used for capitalization
TextInfo textInfo = new CultureInfo("en-US", true).TextInfo;
cmbJointDriver.Items.Clear();
cmbJointDriver.Items.Add("No Driver");
foreach (JointDriverType type in typeOptions)
{
cmbJointDriver.Items.Add(textInfo.ToTitleCase(Enum.GetName(typeof(JointDriverType), type).Replace('_', ' ').ToLowerInvariant()));
}
if (joint.cDriver != null)
{
cmbJointDriver.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType()) + 1;
if (joint.cDriver.port1 < txtPort1.Minimum)
{
txtPort1.Value = txtPort1.Minimum;
}
else if (joint.cDriver.port1 > txtPort1.Maximum)
{
txtPort1.Value = txtPort1.Maximum;
}
else
{
txtPort1.Value = joint.cDriver.port1;
}
if (joint.cDriver.port2 < txtPort2.Minimum)
{
txtPort2.Value = txtPort2.Minimum;
}
else if (joint.cDriver.port2 > txtPort2.Maximum)
{
txtPort2.Value = txtPort2.Maximum;
}
else
{
txtPort2.Value = joint.cDriver.port2;
}
txtLowLimit.Value = (decimal)joint.cDriver.lowerLimit;
txtHighLimit.Value = (decimal)joint.cDriver.upperLimit;
rbPWM.Checked = !joint.cDriver.isCan;
rbCAN.Checked = joint.cDriver.isCan;
chkBoxHasBrake.Checked = joint.cDriver.hasBrake;
if (joint.cDriver.OutputGear == 0) // prevents output gear from being 0
{
joint.cDriver.OutputGear = 1;
}
if (joint.cDriver.InputGear == 0)// prevents input gear from being 0
{
joint.cDriver.InputGear = 1;
}
OutputGeartxt.Value = (decimal)joint.cDriver.OutputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
InputGeartxt.Value = (decimal)joint.cDriver.InputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
#region Meta info recovery
{
PneumaticDriverMeta pneumaticMeta = joint.cDriver.GetInfo <PneumaticDriverMeta>();
if (pneumaticMeta != null)
{
cmbPneumaticDiameter.SelectedIndex = (int)pneumaticMeta.widthEnum;
cmbPneumaticPressure.SelectedIndex = (int)pneumaticMeta.pressureEnum;
}
else
{
cmbPneumaticDiameter.SelectedIndex = (int)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.HIGH;
}
}
{
WheelDriverMeta wheelMeta = joint.cDriver.GetInfo <WheelDriverMeta>();
if (wheelMeta != null)
{
try
{
cmbWheelType.SelectedIndex = (int)wheelMeta.type;
cmbFrictionLevel.SelectedIndex = (int)wheelMeta.GetFrictionLevel();
}
catch
{
// If an exception was thrown (System.ArguementOutOfRangeException) it means
// the user did not choose a wheel type when they were configuring the
// wheel joint
cmbWheelType.SelectedIndex = (int)WheelType.NORMAL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
chkBoxDriveWheel.Checked = wheelMeta.isDriveWheel;
cmbWheelType_SelectedIndexChanged(null, null);
}
else
{
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
}
{
ElevatorDriverMeta elevatorMeta = joint.cDriver.GetInfo <ElevatorDriverMeta>();
}
#endregion
}
else //Default values
{
cmbJointDriver.SelectedIndex = 0;
txtPort1.Value = txtPort1.Minimum;
txtPort2.Value = txtPort2.Minimum;
txtLowLimit.Value = txtLowLimit.Minimum;
txtHighLimit.Value = txtHighLimit.Minimum;
InputGeartxt.Value = (decimal)1.0;
OutputGeartxt.Value = (decimal)1.0;
rbPWM.Checked = true;
chkBoxHasBrake.Checked = false;
cmbPneumaticDiameter.SelectedIndex = (int)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.MEDIUM;
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
chkBoxDriveWheel.Checked = false;
}
PrepLayout();
base.Location = new System.Drawing.Point(Cursor.Position.X - 10, Cursor.Position.Y - base.Height - 10);
this.ShowDialog(owner);
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSave_Click(object sender, EventArgs e)
{
if (!shouldSave())
{
Hide();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
joint.cDriver = new JointDriver(cType)
{
portA = (int)txtPortA.Value,
portB = (int)txtPortB.Value,
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked
};
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
#region WHEEL_SAVING
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
switch ((FrictionLevel)cmbFrictionLevel.SelectedIndex)
{
case FrictionLevel.HIGH:
wheelDriver.forwardExtremeSlip = 1; //Speed of max static friction force.
wheelDriver.forwardExtremeValue = 10; //Force of max static friction force.
wheelDriver.forwardAsympSlip = 1.5f; //Speed of leveled off kinetic friction force.
wheelDriver.forwardAsympValue = 8; //Force of leveld off kinetic friction force.
if (wheelDriver.type == WheelType.OMNI) //Set to relatively low friction, as omni wheels can move sidways.
{
wheelDriver.sideExtremeSlip = 1; //Same as above, but orthogonal to the movement of the wheel.
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 10;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 8;
}
break;
case FrictionLevel.MEDIUM:
wheelDriver.forwardExtremeSlip = 1f;
wheelDriver.forwardExtremeValue = 7;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 5;
if (wheelDriver.type == WheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 7;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 5;
}
break;
case FrictionLevel.LOW:
wheelDriver.forwardExtremeSlip = 1;
wheelDriver.forwardExtremeValue = 5;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 3;
if (wheelDriver.type == WheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 5;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 3;
}
break;
}
joint.cDriver.AddInfo(wheelDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
#region PNEUMATIC_SAVING
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
widthEnum = (PneumaticDiameter)cmbPneumaticDiameter.SelectedIndex
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
#region ELEVATOR_SAVING
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = (ElevatorType)cmbStages.SelectedIndex
};
joint.cDriver.AddInfo(elevatorDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
portA = joint.cDriver.portA,
portB = joint.cDriver.portB,
isCan = joint.cDriver.isCan,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
Saved = true;
Hide();
}
public void ShowDialog(SkeletalJoint_Base baseJoint, List <RigidNode_Base> nodes, Form owner)
{
Saved = false;
if (nodes.Count > 1)
{
bool same = true;
foreach (RigidNode_Base node in nodes)
{
JointDriver driver = node.GetSkeletalJoint().cDriver;
if (driver == null || driver.CompareTo(baseJoint.cDriver) != 0)
{
same = false;
}
}
if (same)
{
joint = baseJoint;
}
else
{
joint = SkeletalJoint_Base.JOINT_FACTORY(baseJoint.GetJointType());
}
}
else
{
joint = baseJoint;
}
this.nodes = nodes;
typeOptions = JointDriver.GetAllowedDrivers(joint);
cmbJointDriver.Items.Clear();
cmbJointDriver.Items.Add("No Driver");
foreach (JointDriverType type in typeOptions)
{
cmbJointDriver.Items.Add(Enum.GetName(typeof(JointDriverType), type).Replace('_', ' ').ToLowerInvariant());
}
if (joint.cDriver != null)
{
cmbJointDriver.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType()) + 1;
txtPortA.Value = joint.cDriver.portA;
txtPortB.Value = joint.cDriver.portB;
txtLowLimit.Value = (decimal)joint.cDriver.lowerLimit;
txtHighLimit.Value = (decimal)joint.cDriver.upperLimit;
#region Meta info recovery
{
PneumaticDriverMeta pneumaticMeta = joint.cDriver.GetInfo <PneumaticDriverMeta>();
if (pneumaticMeta != null)
{
cmbPneumaticDiameter.SelectedIndex = (byte)pneumaticMeta.widthEnum;
cmbPneumaticPressure.SelectedIndex = (byte)pneumaticMeta.pressureEnum;
}
else
{
cmbPneumaticDiameter.SelectedIndex = (byte)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (byte)PneumaticPressure.HIGH;
}
}
{
WheelDriverMeta wheelMeta = joint.cDriver.GetInfo <WheelDriverMeta>();
if (wheelMeta != null)
{
try
{
// TODO: This is a really sketchy hack and I don't even know where the cat is.
cmbWheelType.SelectedIndex = (byte)wheelMeta.type;
if (wheelMeta.forwardExtremeValue > 8)
{
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.HIGH;
}
else if (wheelMeta.forwardExtremeValue > 4)
{
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
}
else
{
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.LOW;
}
}
catch
{
// If an exception was thrown (System.ArguementOutOfRangeException) it means
// the user did not choose a wheel type when they were configuring the
// wheel joint
cmbWheelType.SelectedIndex = (byte)WheelType.NORMAL;
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
}
chkBoxDriveWheel.Checked = wheelMeta.isDriveWheel;
cmbWheelType_SelectedIndexChanged(null, null);
}
else
{
cmbWheelType.SelectedIndex = (byte)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
}
}
{
ElevatorDriverMeta elevatorMeta = joint.cDriver.GetInfo <ElevatorDriverMeta>();
if (elevatorMeta != null)
{
cmbStages.SelectedIndex = (byte)elevatorMeta.type;
}
}
#endregion
}
else //Default values
{
cmbJointDriver.SelectedIndex = 0;
txtPortA.Value = txtPortA.Minimum;
txtPortB.Value = txtPortB.Minimum;
txtLowLimit.Value = txtLowLimit.Minimum;
txtHighLimit.Value = txtHighLimit.Minimum;
cmbPneumaticDiameter.SelectedIndex = (byte)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (byte)PneumaticPressure.MEDIUM;
cmbWheelType.SelectedIndex = (byte)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
chkBoxDriveWheel.Checked = false;
cmbStages.SelectedIndex = (byte)ElevatorType.NOT_MULTI;
}
PerformLayout();
this.ShowDialog(owner);
}