/// <summary>
/// this is the main constructor used to allow the ugv vehicle to start the arm setup
/// </summary>
/// <param name="comport_param"></param>
/// <param name="baudrate_param"></param>
public Roboto_Arm(String comport_param, int baudrate_param)
{
DEVICENAME = comport_param;
BAUDRATE = baudrate_param;
Base = new DXL_Servo(Base_ID, -1500, 1500);
Shoulder = new DXL_Servo(Shoulder_ID, 14000);
Elbow = new DXL_Servo(Elbow_ID, -11000);
Gripper = new DXL_Servo(Gripper_ID, -5000, 10000);
}
public Roboto_Arm()
{
Base = new DXL_Servo(Base_ID, -1500, 1500, ref hasPortBeenOpened);
Shoulder = new DXL_Servo(Shoulder_ID, 14000, ref hasPortBeenOpened);
Elbow = new DXL_Servo(Elbow_ID, -11000, ref hasPortBeenOpened);
Gripper = new DXL_Servo(Gripper_ID, -6000, 17000, ref hasPortBeenOpened);
//basePID = new PID_Contoller(2.7, 0, 0.00255, 200, -200); // assuming 1000x1000 pixel frame with goal center position at 500,500
//elbowPID = new PID_Contoller(1, 0, 0, Elbow.DXL_MAXIMUM_POSITION_VALUE, Elbow.DXL_MINIMUM_POSITION_VALUE);
}
