public RobotControllerForm(Block <Vector3>[] points)
{
InitializeComponent();
_points = points;
_contoller = new RobotContoller(InverseKinematicsComputer.ComputeLengths(points).ToArray(), new IPEndPoint(IPAddress.Parse("192.168.250.1"), 9600));
_contoller.Log += ContollerOnLog;
_contoller.ValuesUpdated += ContollerOnValuesUpdated;
_contoller.StateUpdated += Contoller_StateUpdated;
UpdateRuntimeParametersLabel();
//RenderPoints();
}
public RobotContoller(Block <Vector4>[] cableLengths, IPEndPoint remoteEndPoint)
{
_trajectory = InverseKinematicsComputer.ComputeAnglesFromLengths(cableLengths).ToArray();
_commandCounter = 0;
_blockCounter = 0;
CommandCount = _trajectory.Select(_ => _.Elements.Length).Sum();
_angleSender = new AngleSender(remoteEndPoint, UpdateInterval);
_angleSender.ProgressUpdated += AngleSenderOnProgressUpdated;
_pauseEvent = new ManualResetEvent(true);
File.WriteAllText("angles.txt", ExportAngles());
}
public static IEnumerable <Block <Vector4> > CodeToLengths(string code) =>
InverseKinematicsComputer.ComputeLengths(
CoordinateComputer.ComputePoints(
CrcParser.ParseCommands(code)
)
);
/// <summary>
/// Constructs code processing conveyor and executes it
/// </summary>
public static IEnumerable <Block <Angles> > CodeToAngles(string code) =>
InverseKinematicsComputer.ComputeAngles(
CoordinateComputer.ComputePoints(
CrcParser.ParseCommands(code)
)
);
