public Form1() { InitializeComponent(); double[] L = { 25, 25, 120, 60, 60, 25, 25 }; Robot = new RobotArmState(L, RobotArmState.EXPRESSION_METHOD.EULER_ZYX); Idraw = new IsometricDraw(pb3DView.Width, pb3DView.Height, 500); double[] angle = { 0, 0, 0, 0, 0, 0, 0 }; Bitmap bitmap = new Bitmap(pb3DView.Width, pb3DView.Height); Idraw.DrawOriginalAxis(bitmap); DrawRobot(bitmap, Robot.LinkPos); InitTrackBar(tbJ0, -180, 180); InitTrackBar(tbJ1, -180, 180); InitTrackBar(tbJ2, -180, 180); InitTrackBar(tbJ3, -180, 180); InitTrackBar(tbJ4, -180, 180); InitTrackBar(tbJ5, -180, 180); InitTrackBar(tbRX, -180, 180); InitTrackBar(tbRY, -180, 180); InitTrackBar(tbRZ, -180, 180); UpdateAllUIFromState(Robot); }
public void UpdateAllUIFromState(RobotArmState state) { WriteAngleToTrackbar(state.JointAngle); WriteAngleToTextBox(state.JointAngle); WriteEndPosToTextBox(state.EndPos); WriteEndAngleToTextBox(state.CoordinateAngle); WriteEndAngleToTrackBar(state.CoordinateAngle); }