public WearMEBraceController(Device _epos, ElbowMotionTrackingController _motion_tracking_controller)
{
epos = _epos;
motion_tracking_controller = _motion_tracking_controller;
brace_positions = new List <double>();
brace_position_thread = new BracePositionThread();
brace_position_worker = new BackgroundWorker();
brace_position_worker.DoWork += new DoWorkEventHandler(BracePositionWorker_DoWork);
brace_position_worker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(BracePositionWorker_RunWorkerCompleted);
brace_position_thread.epos = _epos;
brace_command_thread = new BraceCommandThread();
brace_command_worker = new BackgroundWorker();
brace_command_worker.DoWork += new DoWorkEventHandler(BraceCommandWorker_DoWork);
brace_command_worker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(BraceCommandWorker_RunWorkerCompleted);
brace_command_thread.epos = _epos;
brace_command_thread.command = 1; //position
stop_watch = new Stopwatch();
stop_watch2 = new Stopwatch();
gear_ratio = 713;
//initialize background workers/threads
}
//public void CommandBraceThreadCall(int _position, int _velocity, int _command)
//{
// brace_command_thread.position = _position;
// brace_command_thread.velocity = _velocity;
// brace_command_thread.command = _command;
// if (!epos.Equals(null))
// {
// if (!brace_command_worker.IsBusy)
// {
// stop_watch2.Start();
// brace_command_worker.RunWorkerAsync(brace_command_thread);
// }
// }
//}
private void BraceCommandWorker_DoWork(object sender, System.ComponentModel.DoWorkEventArgs e)
{
BraceCommandThread thread_call = (BraceCommandThread)e.Argument;
e.Result = thread_call.SendCommand();
}
