public GCodeCreatorTests()
{
GcodeCreator = new RepetierGCodeCreator();
}
static void Main(string[] args)
{
var con = new SerialRepetierCommunicator(new SerialPortSerialConnection());
var gcodeCreator = new RepetierGCodeCreator();
var controller = new GcodeArmController(con, gcodeCreator);
controller.ConnectToArm("COM25");
var manipulator = new ArmManipulator(controller, new ConsoleArmPresenter(), new HillClimbingInverseKinematicsCalculator(), new DobotDhKinematicChain());
//manipulator.HomeArm();
while (true)
{
var key = Console.ReadKey(true);
var precisely = key.Modifiers == ConsoleModifiers.Shift;
switch (key.Key)
{
case ConsoleKey.LeftArrow:
manipulator.DecrementX(precisely);
break;
case ConsoleKey.RightArrow:
manipulator.IncrementX(precisely);
break;
case ConsoleKey.UpArrow:
manipulator.IncrementY(precisely);
break;
case ConsoleKey.DownArrow:
manipulator.DecrementY(precisely);
break;
case ConsoleKey.Backspace:
manipulator.DeleteLastStep();
break;
case ConsoleKey.Delete:
manipulator.ClearRecording();
break;
}
switch (key.KeyChar.ToString().ToLower())
{
case "-":
manipulator.DecrementZ(precisely);
break;
case "+":
manipulator.IncrementZ(precisely);
break;
case "h":
manipulator.HomeArm();
break;
case "s":
manipulator.IncrementServoPosition(0, precisely);
break;
case "w":
manipulator.DecrementServoPosition(0, precisely);
break;
case "a":
manipulator.IncrementServoPosition(1, precisely);
break;
case "d":
manipulator.DecrementServoPosition(1, precisely);
break;
case " ":
manipulator.RecordStep();
break;
case "p":
manipulator.PlayBackSteps();
break;
case "o":
manipulator.AddDwellStep();
break;
case "g":
Console.Write("Play back specific step in recording: ");
var step = Console.ReadLine();
int stepIndex;
var enteredNumber = int.TryParse(step, out stepIndex);
if (enteredNumber)
{
manipulator.PlayBackStep(stepIndex);
}
break;
case "c":
Console.Write("Enter coordinates: ");
var newPos = Console.ReadLine();
if (newPos == "")
{
break;
}
var coords = newPos.Split(',');
manipulator.SetPosition(GetDoubleFromString(coords[0]), GetDoubleFromString(coords[1]), GetDoubleFromString(coords[2]));
break;
}
}
}
