Implement joint position functionality (#441)

Author: martha-johnston

lib/widgets/resources/arm_widgets/joint_positions_widget.dart

@@ -11,21 +11,26 @@ class JointPositionsWidget extends StatefulWidget {
   State<JointPositionsWidget> createState() => _JointPositionsWidgetState();
 }
 
+bool _isLive = false;
+
 class _JointPositionsWidgetState extends State<JointPositionsWidget> {
   List<double> _jointValues = [];
-  bool _isLive = false;
 
   @override
   void initState() {
     super.initState();
-    _getJointInfo();
+    _getJointPositions();
   }
 
-  Future<void> _getJointInfo() async {
+  Future<void> _getJointPositions() async {
     _jointValues = await widget.arm.jointPositions();
     setState(() {});
   }
 
+  Future<void> _setJointPositions() async {
+    await widget.arm.moveToJointPositions(_jointValues);
+  }
+
   @override
   Widget build(BuildContext context) {
     return Column(
@@ -78,7 +83,7 @@ class _JointPositionsWidgetState extends State<JointPositionsWidget> {
                       shape: RoundedRectangleBorder(borderRadius: BorderRadius.all(Radius.circular(4)))),
                 ),
                 child: OutlinedButton.icon(
-                  onPressed: _isLive ? null : () {},
+                  onPressed: _isLive ? null : _setJointPositions,
                   label: Text("Execute"),
                   icon: Icon(Icons.play_arrow),
                 ),
@@ -139,6 +144,10 @@ class _BuildJointControlRowState extends State<_BuildJointControlRow> {
         );
       }
     });
+
+    if (_isLive) {
+      widget.arm.moveToJointPositions(_jointValues);
+    }
   }
 
   @override