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);
}
public static string WheelFrictionString(WheelDriverMeta wheel)
{
switch (wheel.GetFrictionLevel())
{
case FrictionLevel.LOW:
return("Low");
case FrictionLevel.MEDIUM:
return("Medium");
case FrictionLevel.HIGH:
return("High");
default:
return("None");
}
}
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);
}
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);
}
