// ------------------------------------ test rig --------------------------
// MODIFY main() to test out different arm movements
public static void Main(string[] args)
{
RobotArm robotArm = new RobotArm();
// tests that cause errors:
// boolean hasMoved = robotArm.moveTo(0, 300, 130); // reaching too far
// boolean hasMoved = robotArm.moveTo(150, 250, 130); // too far
// boolean hasMoved = robotArm.moveTo(0, 8, 65);
// wrist and shoulder out of range
// boolean hasMoved = robotArm.moveTo(0, 150, 65); // elbow out of range
// tests in methods:
// moveInLine(robotArm);
// shiftItem(robotArm);
// move to, grab, move to, release
//robotArm.openGripper(true); // open gripper
robotArm.moveTo(150, 250, 65); // coord given in mm
robotArm.wait(1000);
robotArm.openGripper(false); // close
// robotArm.moveTo(-150, 200, 65); // in mm
robotArm.moveToZero();
robotArm.openGripper(true); // open
// report angles and coords
robotArm.showAngles();
Console.WriteLine("Coord: " + robotArm.getCoord() );
robotArm.close();
}
public override void DeactivateActuator()
{
_robotArm.setLight(false);
_robotArm.close();
_robotArm = null;
armActive = false;
}
public override void ActivateActuator()
{
_robotArm = new RobotArm();
_robotArm.setLight(true);
armActive = true;
}
public void SimpleMoveToCompositeTest()
{
RobotArm arm = new RobotArm();
arm.moveToComposite(new Coord3D(){X = 0, Y = 229, Z = 196});
Thread.Sleep(1000);
arm.moveToZero();
}
// moves object from one coord to another
private static void shiftItem(RobotArm robotArm)
{
Coord3D fromPt = new Coord3D(150, 150, 65); // in mm
Coord3D toPt = new Coord3D(-150, 200, 65);
robotArm.moveItem(fromPt, toPt);
}
// moves arm in a straight line
private static void moveInLine(RobotArm robotArm)
{
for(int x = -100; x <= 100; x += 20) {
robotArm.moveTo(x, 200, 80);
robotArm.wait(500);
}
}
