public Trajectory demoSinwave()
{
double baseangle = 0, th1 = 0, th2 = 0, th3 = 0;
double z, Dz, x, y;
RobotArm.solveIK(ref baseangle, ref th1, ref th2, ref th3, 25, 20, 10, links[2].anglez, links[3].anglez, links[4].anglez);
Trajectory t = RobotArm.planTrajectory(this, baseangle, th1, th2, th3, 10);
Dz = 13 * 0.025;
x = 25;
for (z = 12; z > -1; z -= Dz)
{
y = 20 + 3 * Math.Sin(z);
double newbaseangle = 0, newth1 = 0, newth2 = 0, newth3 = 0;
Boolean solved = RobotArm.solveIK(ref newbaseangle, ref newth1, ref newth2, ref newth3, x, y, z, th1, th2, th3);
// appending trajectory
t.len++;
t.moves[t.len - 1].Dbase = newbaseangle - baseangle;
t.moves[t.len - 1].Dth1 = newth1 - th1;
t.moves[t.len - 1].Dth2 = newth2 - th2;
t.moves[t.len - 1].Dth3 = newth3 - th3;
baseangle = newbaseangle;
th1 = newth1;
th2 = newth2;
th3 = newth3;
}
return(t);
}
private void button10_Click(object sender, EventArgs e)
{
if (arm == null)
{
return;
}
if (destsolved)
{
motiontime = 10;
trajectory = RobotArm.planTrajectory(arm, destbase, destth1, destth2, destth3, motiontime);
clockticks = 0;
timer1.Enabled = true;
}
}
private void button1_Click_2(object sender, EventArgs e)
{
Trajectory t = RobotArm.planTrajectory(arm, destbase, destth1,
destth2, destth3, 10);
}
