public void SaveValues()
{
var joint = node.GetSkeletalJoint();
if ((string)jointTypeComboBox.SelectedItem == "(Select an option)")
{
joint.cDriver = null;
joint.weight = 0;
}
else
{
// Driver type
var cType = (string)jointTypeComboBox.SelectedItem == "Drivetrain Wheel" ? JointDriverType.MOTOR : JointDriver.GetAllowedDrivers(joint)[driverTypeComboBox.SelectedIndex];
if (joint.cDriver == null || !joint.cDriver.GetDriveType().Equals(cType)) // Defaults
{
joint.cDriver = new JointDriver(cType)
{
port1 = 3,
port2 = 3,
InputGear = 1,
OutputGear = 1,
lowerLimit = 0,
upperLimit = 0,
isCan = true
};
}
// Always
joint.cDriver.hasBrake = true;
joint.cDriver.motor = MotorType.GENERIC;
joint.cDriver.InputGear = 1;
joint.cDriver.OutputGear = advancedSettingsForm.GearRatio;
joint.cDriver.lowerLimit = 0;
joint.cDriver.upperLimit = 0;
if ((string)jointTypeComboBox.SelectedItem == "Drivetrain Wheel")
{
// Port/wheel side
joint.cDriver.port1 = dtSideComboBox.SelectedIndex;
joint.cDriver.isCan = true;
// Wheel type
var wheelDriver = new WheelDriverMeta
{
type = (WheelType)wheelTypeComboBox.SelectedIndex + 1,
isDriveWheel = true
};
wheelDriver.SetFrictionLevel(FrictionLevel.MEDIUM);
joint.cDriver.AddInfo(wheelDriver);
// Weight
joint.weight = 0;
}
else if ((string)jointTypeComboBox.SelectedItem == "Mechanism Joint")
{
// Port/wheel side
joint.cDriver.port1 = advancedSettingsForm.PortId;
if (joint.cDriver.port1 <= 2)
{
joint.cDriver.port1 = 2;
}
joint.cDriver.isCan = advancedSettingsForm.IsCan;
// Wheel driver
joint.cDriver.RemoveInfo <WheelDriverMeta>();
// Weight
joint.weight = (double)weightInput.Value;
}
}
}
/// <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();
}
}
/// <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();
}
}
