private KUKARobot InitializeRobot2()
{
//TODO: limity dla drugiego robota!
RobotLimits limits = null;
KUKARobot robot2 = new KUKARobot(8082, limits);
//robot2Panel.SetKUKARobot(robot2);
robot2.Initialize();
return(robot2);
}
private KUKARobot InitializeRobot1()
{
WorkspaceLimits workspaceLimits = new WorkspaceLimits(
X: (-250, 250),
Y: (700, 950),
Z: (150, 400)
);
AxisLimits axisLimits = new AxisLimits(
A1: (-360, 360),
A2: (-360, 360),
A3: (-360, 360),
A4: (-360, 360),
A5: (-360, 360),
A6: (-360, 360)
);
RobotLimits limits = new RobotLimits(workspaceLimits, axisLimits, (2.7, 0.05));
KUKARobot robot1 = new KUKARobot(8081, limits);
var rotationMatrix = Matrix <double> .Build.DenseOfArray(new double[, ] {
{ -0.009, 0.001, -1.0 },
{ -1.0, -0.002, 0.009 },
{ -0.002, 1.0, 0.001 }
});
var translationVector = Vector <double> .Build.DenseOfArray(new double[] {
791.016, 743.144, 148.319
});
robot1Panel.AssignRobot(robot1);
robot1.OptiTrackTransformation = new Transformation(rotationMatrix, translationVector);
robot1.Initialize();
return(robot1);
}
