public void SetHandPosition(MotorController.utilities.Side hand, MotorController.utilities.Position Position)
{
switch (hand)
{
case MotorController.utilities.Side.Right:
RightHandPosition = Position;
break;
case MotorController.utilities.Side.Left:
LeftHandPosition = Position;
break;
}
}
public void SetWrist(MotorController.utilities.Side hand, utilities.Position position)
{
switch (hand)
{
case MotorController.utilities.Side.Right:
RightWristPosition = position;
break;
case MotorController.utilities.Side.Left:
LeftWristPosition = position;
break;
}
}
public utilities.Position GetWrist(MotorController.utilities.Side wrist)
{
switch (wrist)
{
case MotorController.utilities.Side.Right:
return(RightWristPosition);
case MotorController.utilities.Side.Left:
return(LeftWristPosition);
default:
return(new utilities.Position());
}
}
public utilities.Position GetElbow(MotorController.utilities.Side hand)
{
switch (hand)
{
case MotorController.utilities.Side.Right:
return(RightElbowPosition);
case MotorController.utilities.Side.Left:
return(LeftElbowPosition);
default:
return(new utilities.Position());
}
}
public utilities.Position GetShoulder(MotorController.utilities.Side Shoulder)
{
switch (Shoulder)
{
case MotorController.utilities.Side.Right:
return(RightShoulderPosition);
case MotorController.utilities.Side.Left:
return(LeftShoulderPosition);
default:
return(new utilities.Position());
}
}
public MotorController.utilities.Position GetHandPosition(MotorController.utilities.Side hand)
{
MotorController.utilities.Position position = new utilities.Position();
switch (hand)
{
case MotorController.utilities.Side.Right:
position = RightHandPosition;
return(position);
case MotorController.utilities.Side.Left:
position = LeftHandPosition;
return(position);
default:
return(new utilities.Position());
}
}
public void SetHandPosition(MotorController.utilities.Side hand, float X, float Y, float Z)
{
switch (hand)
{
case MotorController.utilities.Side.Right:
RightHandPosition.x = X;
RightHandPosition.y = Y;
RightHandPosition.z = Z;
break;
case MotorController.utilities.Side.Left:
LeftHandPosition.x = X;
LeftHandPosition.y = Y;
LeftHandPosition.z = Z;
break;
}
}
