void ShowResults_InMoveP()
{
//先清空原有的文本
TextBoxPointResult.Text = "";
TextBoxPointResult.AppendText("def movep_test(): \r\n");
check_Parameters();
for (int i = 0; i < Global_Tick; i++)
{
string Str = "movep(";
//如果勾选了与Base合成，则用Pose_add合成上去
if (Add_What == 1)
{
Str += "pose_add(AddVector, ";
}
if (Add_What == 2)
{
Str += "pose_trans(AddVector, ";
}
Str += Total_PointRecordString[i];
if (Add_What == 1 || Add_What == 2)
{
Str += ")";
}
if (Include_Accleration)
{
Str += ",a = " + txtAccleration.Text.ToString();
}
if (Include_Speed)
{
Str += ",v = " + txtSpeed.Text.ToString();
}
if (Include_Radius)
{
Str += ",r = " + txtRadius.Text.ToString();
}
//如果三个都不包含，则
Str += ") \r\n";
TextBoxPointResult.AppendText(Str);
}
TextBoxPointResult.AppendText("end \r\n");
TextBoxPointResult.AppendText("movep_test() \r\n");
}
//貌似用MoveJ记录六个关节值还不能，因为关节值无法合成新的向量
void ShowResults_InMoveJ()
{
//先清空原有的文本
TextBoxPointResult.Text = "";
TextBoxPointResult.AppendText("def movej_test(): \r\n");
check_Parameters();
#region 以下是获取六个关节数值的方式生成movej的脚本
/*
* for (int i = 0; i < Global_Tick; i++)
* {
* string Str = "";
*
* Str += "movej(" + Total_AngleRecordString[i];
*
* if (Include_Accleration)
* {
* Str += ", a = " + txtAccleration.Text.ToString();
* }
* if (Include_Speed)
* {
* Str += ", v = " + txtSpeed.Text.ToString();
* }
* if (Include_Radius)
* {
* Str += ", r = " + txtRadius.Text.ToString();
* }
*
* //如果三个都不包含，则
* Str += ") \r\n";
*
* //TextBoxPointResult.AppendText("movel(" + Total_PointRecordString[i] + ",a = " + txtAccleration.Text.ToString() + ",v = " + txtSpeed.Text.ToString() + ",r = " + txtRadius.Text.ToString() + ") \r\n");
* TextBoxPointResult.AppendText(Str);
* }
*/
#endregion
#region 以下是切换成点位的方式生成movej的脚本
for (int i = 0; i < Global_Tick; i++)
{
string Str = "movej(";
//如果勾选了与Base合成，则用Pose_add合成上去
if (Add_What == 1)
{
Str += "pose_add(AddVector, ";
}
if (Add_What == 2)
{
Str += "pose_trans(AddVector, ";
}
Str += Total_PointRecordString[i];
if (Add_What == 1 || Add_What == 2)
{
Str += ")";
}
if (Include_Accleration)
{
Str += ",a = " + txtAccleration.Text.ToString();
}
if (Include_Speed)
{
Str += ",v = " + txtSpeed.Text.ToString();
}
if (Include_Radius)
{
Str += ",r = " + txtRadius.Text.ToString();
}
//如果三个都不包含，则
Str += ") \r\n";
TextBoxPointResult.AppendText(Str);
}
#endregion
TextBoxPointResult.AppendText("end \r\n");
TextBoxPointResult.AppendText("movej_test() \r\n");
}