68 lines
2.3 KiB
Rust
68 lines
2.3 KiB
Rust
use std::{thread::sleep, time::Duration};
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mod stage;
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fn main() {
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env_logger::init();
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let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
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let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
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//println!("{}", s.version().unwrap());
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//let a = nalgebra::vector![-10000.0, 0.0, -1250.0];
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//let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
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//let c = nalgebra::vector![0.0, -15000.0, -250.0];
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s.move_absolute_cartesian(origin).unwrap();
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sleep(Duration::from_secs(5));
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//s.move_absolute_cartesian(origin + a).unwrap();
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////sleep(Duration::from_secs(5));
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////s.move_absolute_cartesian(origin).unwrap();
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////s.move_absolute_cartesian(origin + c).unwrap();
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////sleep(Duration::from_secs(5));
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////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
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////println!("D");
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////sleep(Duration::from_secs(5));
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////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
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//println!("{:?}", s.get_position_cartesian());
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//Ok(())
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}
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struct App {
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}
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impl Default for App {
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fn default() -> Self {
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App {}
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}
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}
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impl eframe::App for App {
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fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
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egui::CentralPanel::default().show(ctx, |ui| {
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ui.heading("My egui Application");
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});
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}
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}
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//
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// let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
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// let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
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// println!("{}", s.version().unwrap());
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//
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// let a = nalgebra::vector![18000.0, 0.0, -1250.0];
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// let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
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// let c = nalgebra::vector![0.0, -15000.0, -250.0];
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//
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// s.move_absolute_cartesian(origin).unwrap();
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// //sleep(Duration::from_secs(5));
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// //s.move_absolute_cartesian(origin + a).unwrap();
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// //sleep(Duration::from_secs(5));
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// //s.move_absolute_cartesian(origin + c).unwrap();
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// //sleep(Duration::from_secs(5));
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// //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
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// //println!("D");
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// //sleep(Duration::from_secs(5));
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// //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
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// println!("{:?}", s.get_position_cartesian());
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//}
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