public ShieldBox ConverterTeachPosToShieldBox(TeachPos teachPos)
{
switch (teachPos)
{
case TeachPos.ShieldBox1:
return(ShieldBox1);
case TeachPos.ShieldBox2:
return(ShieldBox2);
case TeachPos.ShieldBox3:
return(ShieldBox3);
case TeachPos.ShieldBox4:
return(ShieldBox4);
case TeachPos.ShieldBox5:
return(ShieldBox5);
case TeachPos.ShieldBox6:
return(ShieldBox6);
default:
return(null);
}
}
public void CalculateG1ToG2Offset(TeachPos selectedTeachPos)
{
double XPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos));
double YPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos));
double APos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos));
double xOffset = Motion.GetPositionX() - XPos;
double yOffset = Motion.GetPosition(Motion.MotorY) - YPos;
double aOffset = Steppers.GetPosition(RackGripper.Two) - APos;
if (Math.Abs(xOffset) > 5 | Math.Abs(yOffset) > 5 | Math.Abs(aOffset) > 5)
{
throw new Exception("CalculateG1ToG2Offset offset over 5.");
}
XmlReaderWriter.SetTeachAttribute(Files.RackData, TeachPos.G1ToG2Offset, PosItem.XPos,
xOffset.ToString(CultureInfo.CurrentCulture));
XmlReaderWriter.SetTeachAttribute(Files.RackData, TeachPos.G1ToG2Offset, PosItem.YPos,
yOffset.ToString(CultureInfo.CurrentCulture));
XmlReaderWriter.SetTeachAttribute(Files.RackData, TeachPos.G1ToG2Offset, PosItem.APos,
aOffset.ToString(CultureInfo.CurrentCulture));
}
public void LoadForTeaching(RackGripper gripper, TeachPos selectedTeachPos)
{
TargetPosition target = ConverterTeachPosToTargetPosition(selectedTeachPos);
target.ZPos = target.ZPos + 30;
MoveToTargetPosition(gripper, target, false);
DisableMotorsForTeaching();
Motion.SetSpeed(3);
}
public static string GetTeachAttribute(string file, TeachPos PosName, PosItem attribute)
{
XElement root = XElement.Load(file);
XElement elem = root
.Elements(PosItem.Teach.ToString())
.Elements(PosItem.Pos.ToString())
.Single(itemName => itemName.Attribute(PosItem.Name.ToString()).Value == PosName.ToString());
return(elem.Attribute(attribute.ToString()).Value);
}
public void SaveTeachPosition(TeachPos selectedTeachPos)
{
TargetPosition target = new TargetPosition()
{
XPos = Motion.GetPositionX(),
YPos = Motion.GetPosition(Motion.MotorY),
ZPos = Motion.GetPosition(Motion.MotorZ),
RPos = Motion.GetPosition(Motion.MotorR),
APos = Steppers.GetPosition(RackGripper.One)
};
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos,
target.XPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos,
target.YPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos,
target.ZPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.RPos,
target.RPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos,
target.APos.ToString());
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos) !=
target.XPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos) !=
target.YPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos) !=
target.ZPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.RPos) !=
target.RPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos) !=
target.APos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
}
public void SaveApproachHeight(TeachPos selectedTeachPos)
{
double zPos = Convert.ToDouble(XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos));
if (Motion.GetPosition(Motion.MotorZ) < zPos + 30)
{
throw new Exception("Approach is less than ZPos + 30.");
}
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ApproachHeight,
Motion.GetPosition(Motion.MotorZ).ToString(CultureInfo.CurrentCulture));
}
public static void SetTeachAttribute(string file, TeachPos posName, PosItem attribute, string newValue)
{
XElement root = XElement.Load(file);
XElement elem = root
.Elements(PosItem.Teach.ToString())
.Elements(PosItem.Pos.ToString())
.Single(itemName => itemName.Attribute(PosItem.Name.ToString()).Value == posName.ToString());
elem.Attribute(attribute.ToString()).Value = newValue;
root.Save(file);
}
public static string GetTeachAttribute(string file, TeachPos PosName, PosItem attribute)
{
XElement root = XElement.Load(file);
var child1 = root.Elements(PosItem.Teach.ToString());
var child2 = child1.Elements(PosItem.Pos.ToString());
var elem = child2.Single(element => element.Attribute(PosItem.Name.ToString()).Value == PosName.ToString());
//XElement elem = root
// .Elements(PosItem.Teach.ToString())
// .Elements(PosItem.Pos.ToString())
// .Single(element => element.Attribute(PosItem.Name.ToString()).Value == PosName.ToString());
return elem.Attribute(attribute.ToString()).Value;
}
public void SaveTeachPosition(TeachPos selectedTeachPos)
{
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos,
_motion.GetPositionX().ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos,
_motion.GetPosition(_motion.MotorY).ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos,
_motion.GetPosition(_motion.MotorZ).ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.RPos,
_motion.GetPosition(_motion.MotorR).ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos,
_motion.GetPosition(_motion.MotorR) > 0
? _gripper.GetPosition(Gripper.One).ToString()
: _gripper.GetPosition(Gripper.Two).ToString());
}
public TargetPosition ConverterTeachPosToTargetPosition(TeachPos teachPos)
{
switch (teachPos)
{
case TeachPos.Pick:
return(Motion.PickPosition);
case TeachPos.Bin:
return(Motion.BinPosition);
case TeachPos.ShieldBox1:
return(Motion.ShieldBox1);
case TeachPos.ShieldBox2:
return(Motion.ShieldBox2);
case TeachPos.ShieldBox3:
return(Motion.ShieldBox3);
case TeachPos.ShieldBox4:
return(Motion.ShieldBox4);
case TeachPos.ShieldBox5:
return(Motion.ShieldBox5);
case TeachPos.ShieldBox6:
return(Motion.ShieldBox6);
case TeachPos.Gold1:
return(Motion.Gold1);
case TeachPos.Gold2:
return(Motion.Gold2);
case TeachPos.Gold3:
return(Motion.Gold3);
case TeachPos.Gold4:
return(Motion.Gold4);
case TeachPos.Gold5:
return(Motion.Gold5);
default:
throw new Exception("Shield box Id out of range exception.");
}
}
private TargetPosition LoadPosition(TeachPos pos, Location id)
{
TargetPosition target = new TargetPosition
{
Id = id,
XPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.XPos)),
YPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.YPos)),
ZPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.ZPos)),
RPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.RPos)),
APos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.APos)),
ApproachHeight = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.ApproachHeight))
};
return(target);
}
private void comboBoxMovePos_SelectedIndexChanged(object sender, EventArgs e)
{
_selectedTargetPosition = (TeachPos)comboBoxMovePos.SelectedItem;
}
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
_selectedTeachPos = (TeachPos)comboBox1.SelectedItem;
}
public void SaveApproachHeight(TeachPos selectedTeachPos)
{
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ApproachHeight,
_motion.GetPosition(_motion.MotorZ).ToString());
}
