private void button_DrawScara_Click(object sender, EventArgs e) { Scara s_arm = new Scara(); s_arm.Base_pt = new Point3D(0, 0, 0); s_arm.pt1 = new Point3D(Convert.ToDouble(textBox_Arm1_X.Text), Convert.ToDouble(textBox_Arm1_Y.Text), Convert.ToDouble(textBox_Arm1_Z.Text)); s_arm.pt2 = new Point3D(s_arm.pt1.X + Convert.ToDouble(textBox_Arm2_X.Text), s_arm.pt1.Y + Convert.ToDouble(textBox_Arm2_Y.Text), s_arm.pt1.Z + Convert.ToDouble(textBox_Arm2_Z.Text)); s_arm.pt3 = new Point3D(s_arm.pt2.X + Convert.ToDouble(textBox_Arm3_X.Text), s_arm.pt2.Y + Convert.ToDouble(textBox_Arm3_Y.Text), s_arm.pt2.Z + Convert.ToDouble(textBox_Arm3_Z.Text)); s_arm.armb_1 = Coordinate3D.Point3D.Distance(s_arm.Base_pt, s_arm.pt1); s_arm.arm1_2 = Coordinate3D.Point3D.Distance(s_arm.pt1, s_arm.pt2); s_arm.arm2_3 = Coordinate3D.Point3D.Distance(s_arm.pt2, s_arm.pt3); if (Scara.IsScara(s_arm)) { DrawScara_Paint(sender, null, s_arm); } else { MessageBox.Show("Invalid Scara arm parameters!", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning); textBox_Arm1_X.Text = "0"; textBox_Arm1_Y.Text = "0"; textBox_Arm1_Z.Text = "100"; textBox_Arm2_X.Text = "0"; textBox_Arm2_Y.Text = "100"; textBox_Arm2_Z.Text = "0"; textBox_Arm3_X.Text = "100"; textBox_Arm3_Y.Text = "0"; textBox_Arm3_Z.Text = "0"; } }
private void DrawScara_Paint(object sender, EventArgs e, Scara s_arm) { panel_draw_Paint(sender, null); Button_ChangeViewAngle_Click(sender, null); //drawArmOnView(InvMat, s_arm.Base_pt, s_arm.pt1); }