private void PosTimer_Tick(object sender, System.Timers.ElapsedEventArgs e)
{
if (!isConnectted)
{
return;
}
DobotDll.GetPose(ref pose);
this.Dispatcher.BeginInvoke((Action) delegate()
{
tbJoint1Angle.Text = pose.jointAngle[0].ToString();
tbJoint2Angle.Text = pose.jointAngle[1].ToString();
tbJoint3Angle.Text = pose.jointAngle[2].ToString();
tbJoint4Angle.Text = pose.jointAngle[3].ToString();
if (sync.IsChecked == true)
{
X.Text = pose.x.ToString();
Y.Text = pose.y.ToString();
Z.Text = pose.z.ToString();
rHead.Text = pose.rHead.ToString();
pauseTime.Text = "0";
}
});
}
private void PosTimer_Tick(object sender, EventArgs e)
{
if (!isConnectted)
{
return;
}
Pose pose = new Pose();
DobotDll.GetPose(ref pose);
tbJoint1Angle.Text = pose.jointAngle[0].ToString();
tbJoint2Angle.Text = pose.jointAngle[1].ToString();
tbJoint3Angle.Text = pose.jointAngle[2].ToString();
tbJoint4Angle.Text = pose.jointAngle[3].ToString();
if (sync.IsChecked == true)
{
isGrab.IsChecked = pose.isGrab == 1;
X.Text = pose.x.ToString();
Y.Text = pose.y.ToString();
Z.Text = pose.z.ToString();
rHead.Text = pose.rHead.ToString();
pauseTime.Text = "0";
isGripper.Text = pose.gripper.ToString();
}
}
//Überprüft alle 100ms die aktuelle Position, wenn ein Roboter verbunden ist
private void PosTimer_Tick(object sender, EventArgs e)
{
if (!isConnectted)
{
return;
}
DobotDll.GetPose(ref pose);
}
/// <summary>
/// タイマーで定期的に現在位置を取得します
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void PosTimer_Tick(object sender, System.Timers.ElapsedEventArgs e)
{
if (!_isConnectted)
{
return;
}
DobotDll.GetPose(ref _pose);
// コンソール出力
Console.WriteLine($"x:{_pose.x}");
Console.WriteLine($"y:{_pose.y}");
Console.WriteLine($"z:{_pose.z}");
Console.WriteLine($"R:{_pose.rHead}");
}
private void GetPose()
{
if (!isConnectted)
{
return;
}
DobotDll.GetPose(ref pose);
this.Dispatcher.BeginInvoke((Action) delegate()
{
//if (sync.IsChecked == true)
//{
Xtext.Text = pose.x.ToString();
Ytext.Text = pose.y.ToString();
Ztext.Text = pose.z.ToString();
J1text.Text = pose.jointAngle[0].ToString();
J2text.Text = pose.jointAngle[1].ToString();
J3text.Text = pose.jointAngle[2].ToString();
sdXtext.Text = (pose.x - sd_origin.X).ToString();
sdYtext.Text = (pose.y - sd_origin.Y).ToString();
sdZtext.Text = (pose.z - sd_origin.Z).ToString();
//rHead.Text = pose.rHead.ToString();
// pauseTime.Text = "0";
//}
var matrix = new Matrix3D();
matrix.Rotate(new System.Windows.Media.Media3D.Quaternion(new Vector3D(0, 1, 0), pose.jointAngle[0]));
matrix.Translate(new Vector3D((pose.y - sd_origin.Y), (pose.z - sd_origin.Z), (pose.x - sd_origin.X)));
MeshGeometryModel3D model = ModelGroup.Children[1] as MeshGeometryModel3D;
model.Transform = new MatrixTransform3D(matrix);
});
}
//Rechnet die Koordianten um, auf die passende Größe und von pixel auf mm
private void Positionsbestimmung()
{
DobotDll.GetPose(ref pose);
}
private void button_Click(object sender, RoutedEventArgs e)
{
DobotDll.ResetPose(false, 0, 0);
DobotDll.GetPose(ref pose);
sd_origin = new Point3D(pose.x, pose.y, pose.z);
}
private void dobotStuff()
{
PTPJointParams ptpParams;
ptpParams.acceleration = new float[4] {
200, 200, 200, 200
};
ptpParams.velocity = new float[4] {
200, 200, 200, 200
};
PTPCoordinateParams ptpCParams;
ptpCParams.rAcceleration = 200;
ptpCParams.rVelocity = 200;
ptpCParams.xyzAcceleration = 200;
ptpCParams.xyzVelocity = 200;
PTPJumpParams ptpJParams;
ptpJParams.jumpHeight = 10;
ptpJParams.zLimit = 200;
PTPCommonParams ptpCmParams;
ptpCmParams.accelerationRatio = 100;
ptpCmParams.velocityRatio = 100;
WAITCmd wait;
wait.timeout = 2000;
UInt64 cmdIndex = 0;
HOMECmd hmcmd = new HOMECmd();
DobotDll.SetHOMECmd(ref hmcmd, false, ref cmdIndex);
System.Threading.Thread.Sleep(20000);
Pose pose = new Pose();
DobotDll.GetPose(ref pose);
Console.WriteLine(pose.x + ", " + pose.y + ", " + pose.z);
DobotDll.SetPTPJointParams(ref ptpParams, false, ref cmdIndex);
DobotDll.SetPTPCoordinateParams(ref ptpCParams, false, ref cmdIndex);
DobotDll.SetPTPJumpParams(ref ptpJParams, false, ref cmdIndex);
DobotDll.SetPTPCommonParams(ref ptpCmParams, false, ref cmdIndex);
pickNewCard(cmdIndex, wait);
placeCard(290, playerCards * cardDistance, cmdIndex);
playerCards++;
pickNewCard(cmdIndex, wait);
placeCard(200, dealerCards * cardDistance, cmdIndex);
dealerCards++;
pickNewCard(cmdIndex, wait);
placeCard(290, playerCards * cardDistance, cmdIndex);
playerCards++;
}
