@Override public void move(RobotPositionMap positions, long lenMillisec) { MotionFrame frame = new DefaultMotionFrame(); frame.setFrameLengthMillisec(lenMillisec); frame.setGoalPositions(positions); frame.setPreviousPositions(myPreviousPositions); frame.setTimestampMillisecUTC(TimeUtils.now()); myRobotClient.sendMovement(frame); myPreviousPositions = positions; setGoals(myPreviousPositions); }
goals.put(jointId, interval); frame.setGoalPositions(goals); return frame;
myPreviousPositions.put(djId, val); frame.setGoalPositions(myPreviousPositions); long unrampedTime = cur - myRampTimeMillisec; if(isComplete(unrampedTime)){
disableAtGoal(); frame.setGoalPositions(goals); return frame;
myPreviousPositions.put(djId, val); frame.setGoalPositions(myPreviousPositions); if(isComplete(cur)){ complete(time);
frame.setTimestampMillisecUTC(currentTimeUTC); frame.setPreviousPositions(new RobotPositionHashMap()); frame.setGoalPositions(new RobotPositionHashMap());