Beispiel #1
0
        protected override void OnDoWork(DoWorkEventArgs e)
        {
            DateTime start = new DateTime();
            DateTime stop  = new DateTime();

            while (dotracking)
            {
                start = DateTime.Now;

                if (trackForceSensor)
                {
                    if (!errorStateActive && UniversalRobotHelperFunctions.IsForceOverLimit())
                    {
                        errorStateActive = true;
                        Vector3D forceDirection = UniversalRobotHelperFunctions.GetForceDirection();
                        UniversalRobotController.URRobotCoOrdinate currentRobotCoord = App.Current.URController.GetCurrentLocation();
                        Point3D currentCamSetPoint = new Point3D(
                            currentRobotCoord.x,
                            currentRobotCoord.y,
                            currentRobotCoord.z);
                        Vector3D lookDirection = new Vector3D(
                            currentRobotCoord.qx,
                            currentRobotCoord.qy,
                            currentRobotCoord.qz
                            );

                        Point3D safePoint = UniversalRobotHelperFunctions.AdjustLocationToForceSensor(currentCamSetPoint, lookDirection, forceDirection);
                        App.Current.URController.SetVirtualEStopOverride(true, safePoint.X, safePoint.Y, safePoint.Z);
                    }
                }

                stop = DateTime.Now;
                Thread.Sleep(20);
            }
        }
 public static void TareForceSensor()
 {
     TareForceReading = UniversalRobotHelperFunctions.GetForceReadout();
 }