private void MoveLeg(Vector3 target, LegConfiguration legConfig) { var legGoalPositions = CalculateIkForLeg(target, legConfig); lock (_driver.SyncLock) { _driver.SetGoalPositionInDegrees(legConfig.CoxaId, legGoalPositions.Coxa); _driver.SetGoalPositionInDegrees(legConfig.FemurId, legGoalPositions.Femur); _driver.SetGoalPositionInDegrees(legConfig.TibiaId, legGoalPositions.Tibia); } }
public void CenterView() { lock (_driver.SyncLock) { _driver.SetMovingSpeed(HorizontalMotorIndex, 300); _driver.SetMovingSpeed(VerticalMotorIndex, 300); _driver.SetGoalPositionInDegrees(HorizontalMotorIndex, HorizontalCenter); _driver.SetGoalPositionInDegrees(VerticalMotorIndex, VerticalCenter); } _centering = true; }