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bugfixing robots

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This commit is contained in:
BlubbFish 2015-11-27 13:22:11 +00:00
parent 0e6ee0f8b1
commit 662c59de0d
1 changed files with 16 additions and 11 deletions
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27
AdvancedServo-simple/Program.cs
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@ -122,8 +122,8 @@ namespace AdvancedServo_simple {
if(!advServo.Attached) { return; } if(!advServo.Attached) { return; }
setStartPosition(new int[] { 0, 77, 175, 155, 84 }); setStartPosition(new int[] { 0, 77, 175, 155, 84 });
Thread.Sleep(200); Thread.Sleep(500);
Console.WriteLine("Servos are in Start!"); //Console.WriteLine("Servos are in Start!");
setPosition(new int[] { -1, 77, 157, 134, 84 }, 400); setPosition(new int[] { -1, 77, 157, 134, 84 }, 400);
setPosition(new int[] { -1, 83, 97, 116, 44 }, 200); setPosition(new int[] { -1, 83, 97, 116, 44 }, 200);
@ -144,8 +144,8 @@ namespace AdvancedServo_simple {
if(!advServo.Attached) { return; } if(!advServo.Attached) { return; }
/* not needed, turn, */ /* not needed, turn, */
setStartPosition(new int[] { 0, 87, 175, 160, 92 }); setStartPosition(new int[] { 0, 87, 175, 160, 92 });
Thread.Sleep(1000); Thread.Sleep(500);
Console.WriteLine("Servos are in Start!"); //Console.WriteLine("Servos are in Start!");
setPosition(new int[] { -1, 87, 153, 138, 92 }, 400); setPosition(new int[] { -1, 87, 153, 138, 92 }, 400);
setPosition(new int[] { -1, 44, 111, 161, 63 }, 200); setPosition(new int[] { -1, 44, 111, 161, 63 }, 200);
@ -184,8 +184,8 @@ namespace AdvancedServo_simple {
if(!advServo.Attached) { return; } if(!advServo.Attached) { return; }
setStartPosition(new int[] { 20, 68, 175, 175, 20 }); setStartPosition(new int[] { 20, 68, 175, 175, 20 });
Thread.Sleep(1000); Thread.Sleep(500);
Console.WriteLine("Servos are in Start!"); //Console.WriteLine("Servos are in Start!");
setPosition(new int[] { 20, 68, 160, 162, 20 }, 400); setPosition(new int[] { 20, 68, 160, 162, 20 }, 400);
setPosition(new int[] { -1, 154, 88, 88, -1 }, 400); setPosition(new int[] { -1, 154, 88, 88, -1 }, 400);
@ -195,12 +195,12 @@ namespace AdvancedServo_simple {
setPosition(new int[] { -1, -1, 85, -1, -1 }, 20); setPosition(new int[] { -1, -1, 85, -1, -1 }, 20);
setPosition(new int[] { -1, -1, -1, 106, -1 }, 200); setPosition(new int[] { -1, -1, -1, 106, -1 }, 200);
setPosition(new int[] { -1, -1, 118, 122, 174 }, 200); setPosition(new int[] { -1, -1, 118, 122, 174 }, 200);
Console.WriteLine("Picked Up Glas"); //Console.WriteLine("Picked Up Glas");
setPosition(new int[] { -1, 13, -1, -1, -1 }, 300); setPosition(new int[] { -1, 13, -1, -1, -1 }, 300);
setPosition(new int[] { -1, -1, 90, 100, 20 }, 200); setPosition(new int[] { -1, -1, 90, 100, 20 }, 200);
setPosition(new int[] { -1, -1, 82, 97, 25 }, 20); // Fine Settings setPosition(new int[] { -1, -1, 82, 97, 25 }, 20); // Fine Settings
Console.WriteLine("Placed Glas!"); //Console.WriteLine("Placed Glas!");
Thread.Sleep(1000); Thread.Sleep(1000);
setPosition(new int[] { -1, -1, 90, 90, 20 }, 20); // Fine Lift setPosition(new int[] { -1, -1, 90, 90, 20 }, 20); // Fine Lift
@ -213,10 +213,10 @@ namespace AdvancedServo_simple {
setPosition(new int[] { 20, -1, 78, -1, -1 }, 150); setPosition(new int[] { 20, -1, 78, -1, -1 }, 150);
setPosition(new int[] { -1, -1, 81, 111, -1 }, 20); setPosition(new int[] { -1, -1, 81, 111, -1 }, 20);
setPosition(new int[] { -1, -1, 90, -1, -1 }, 100); setPosition(new int[] { -1, -1, 90, -1, -1 }, 100);
Console.WriteLine("Put Glas back!"); //Console.WriteLine("Put Glas back!");
setPosition(new int[] { 20, 68, 160, 162, 20 }, 400); setPosition(new int[] { 20, 68, 160, 162, 20 }, 400);
setPosition(new int[] { 20, 68, 175, 175, 20 }, 400); setPosition(new int[] { 20, 68, 175, 175, 20 }, 400);
Thread.Sleep(100); //Thread.Sleep(100);
shutdownServo(); shutdownServo();
} }
@ -247,7 +247,12 @@ namespace AdvancedServo_simple {
for(int i = 0; i < 5; i++) { for(int i = 0; i < 5; i++) {
if(pos[i] != -1) { if(pos[i] != -1) {
AdvancedServoServo s = advServo.servos[i]; AdvancedServoServo s = advServo.servos[i];
while(Math.Abs(s.Position - pos[i]) > 0.01) { Thread.Sleep(10); s.Position = pos[i]; } try {
while(Math.Abs(s.Position - pos[i]) > 0.01) { Thread.Sleep(10); s.Position = pos[i]; }
} catch(PhidgetException) {
Console.WriteLine("Exeption!");
setPosition(pos, speed);
}
} }
} }
} }