//阶段的初始化
public void StageInitial()
{
//stop coroutines
StopAllCoroutines();
button.StopAllCoroutines();
//鼠标
button.MouseStop();
button.OriginalDisableColor();
//tips
DisableTips();
ReadTips("");
//camera axis
CameraPosition();
MOVJCLASS.EndRun();
AxisPosition();
//device
DevicePosition();
//code
CodeInitial();
//screen show
//StagePanelInitial();
PanelStageInitial();
button.CloseIOPanel_Teach();
//rightmenu
FuncPara.rightclick_menu_on = false;
//out in
SetStageInInfo();
SetStageOutInfo();
}
//退出案例
public void ExitCase()
{
StopAllCoroutines();
button.StopAllCoroutines();
//axis initial
MOVJCLASS.EndRun();
RobotReturnZero();
//close teachwindow
FuncPara.showTeachWindow = false;
//删除程序 设置当前程序
GSKFile.DeleteProgram(FileName);
//rightmenu
FuncPara.rightclick_menu_on = false;
//voice tips mouse
DisableTips();
ReadTips("");
button.MouseStop();
button.OriginalDisableColor();
//panel
button.ClosePanel();
button.CloseIOPanel();
button.BtAllow();
//reset scene
ResetScene();
ReturnToOriAng();
Debug.Log("ExitCase");
}
public void MOVJC(float t)
{
float tf = 2f; //完成插补所需的时间
if (tf != 0)
{
JMove_1.JointInterpolation_3(MOVJCLASS.StartPos[0], MOVJCLASS.EndPos[0], tf, t);
JMove_2.JointInterpolation_3(MOVJCLASS.StartPos[1], MOVJCLASS.EndPos[1], tf, t);
JMove_3.JointInterpolation_3(MOVJCLASS.StartPos[2], MOVJCLASS.EndPos[2], tf, t);
JMove_4.JointInterpolation_3(MOVJCLASS.StartPos[3], MOVJCLASS.EndPos[3], tf, t);
JMove_5.JointInterpolation_3(MOVJCLASS.StartPos[4], MOVJCLASS.EndPos[4], tf, t);
JMove_6.JointInterpolation_3(MOVJCLASS.StartPos[5], MOVJCLASS.EndPos[5], tf, t);
MOVJCLASS.runtime += GSKDATA.D_time;
}
else
{
MOVJCLASS.EndRun();
}
if (tf <= t)
{
MOVJCLASS.EndRun();
}
}