public void Connect(string ip)
{
try
{
_motion = new MotionProxy(ip,9559);
// --------------- prepare limits --------------------------
// three floats as an ArrayList for each joint in the chain
// min,max,maxNoLoadSpeedPerCycle
ArrayList limits = (ArrayList)_motion.getLimits("Head");
ArrayList yawLimits = (ArrayList)limits[0];
ArrayList pitchLimits = (ArrayList)limits[1];
_minYaw = (float)yawLimits[0];
_maxYaw = (float)yawLimits[1];
_minPitch = (float)pitchLimits[0];
_maxPitch = (float)pitchLimits[1];
Console.WriteLine("MinYaw: " + _minYaw + " MaxYaw:" + _maxYaw + " MinPitch: " + _minPitch + " MaxPitch:" + _maxPitch);
// give the joints some stiffness
_motion.stiffnessInterpolation("Head",1.0f,1.0f);
}
catch(Exception e)
{
Console.Out.WriteLine("HeadPanning.Connect exception: " + e);
}
}
