IEnumerator phase_1()
{
if (GSKDATA.SoftCurrentMode == "Teach")
{
CameraPosition();
float waittime = 0;
ShowTips();
ReadTips(TitleName[stage_current]);
waittime = GetVoiceTime(TitleName[stage_current]);
yield return(StartCoroutine(Timer(waittime)));
LstageRead();
showtips(stage_name[0]);
ReadTips(stage_name[0]);
waittime = GetVoiceTime(stage_name[0]);
yield return(StartCoroutine(Timer(waittime)));
//12按钮同时高亮
button.StartCoroutine(button.HighlightAxisBt());
//运动
MOVJCLASS.StartPos = MotionScript.CurrentAngle_All();
MOVJCLASS.EndPos = new float[] { -13.25663f, 10.14561f, 24.79338f, -22.36026f, -37.07446f, 18.17154f };
MOVJCLASS.StartRun();
yield return(new WaitForSeconds(3.0f));
//add movj p1
showtips(stage_name[1]);
ReadTips(stage_name[1]);
waittime = GetVoiceTime(stage_name[1]);
yield return(StartCoroutine(Timer(waittime)));
button.MouseMove(0, 41);
FuncPara.loopControl = 0;
yield return(StartCoroutine(WaitLoop()));
yield return(StartCoroutine(button.ButtonClick(41))); //add
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(6))); //chose
showtips(stage_name[2]);
ReadTips(stage_name[2]);
waittime = GetVoiceTime(stage_name[2]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(44))); //1
yield return(StartCoroutine(button.ButtonClick(36))); //input
}
else
{
Debug.Log("pass" + stage_current);
GetCurrentCode();
GetCurrentPosition();
yield return(StartCoroutine(DoubleE()));
}
}
//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");
}
//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();
}
IEnumerator phase_7()//movl p5
{
if (GSKDATA.SoftCurrentMode == "Teach")
{
//CameraPosition();
float waittime = 0;
ShowTips();
ReadTips(TitleName[stage_current]);
waittime = GetVoiceTime(TitleName[stage_current]);
yield return(StartCoroutine(Timer(waittime)));
LstageRead();
//12按钮同时高亮
button.StartCoroutine(button.HighlightAxisBt());
//运动
MOVJCLASS.StartPos = MotionScript.CurrentAngle_All();
MOVJCLASS.EndPos = new float[] { 108.14f, 11.22f, 9.66f, 0.39f, 63.46f, 18.28f };
MOVJCLASS.StartRun();
yield return(new WaitForSeconds(3.0f));
button.MouseMove(0, 41);
FuncPara.loopControl = 0;
yield return(StartCoroutine(WaitLoop()));
yield return(StartCoroutine(button.ButtonClick(41))); //add
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(9))); //down
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(38))); //5
yield return(StartCoroutine(button.ButtonClick(36))); //input
}
else
{
Debug.Log("pass" + stage_current);
GetCurrentCode();
GetCurrentPosition();
yield return(StartCoroutine(DoubleE()));
}
}
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();
}
}
IEnumerator phase_4()
{
if (GSKDATA.SoftCurrentMode == "Teach")
{
CameraPosition();
float waittime = 0;
ShowTips();
ReadTips(TitleName[stage_current]);
waittime = GetVoiceTime(TitleName[stage_current]);
yield return(StartCoroutine(Timer(waittime)));
LstageRead();
showtips(stage_name[0]);
ReadTips(stage_name[0]);
waittime = GetVoiceTime(stage_name[0]);
yield return(StartCoroutine(Timer(waittime)));
//12按钮同时高亮
button.StartCoroutine(button.HighlightAxisBt());
//运动
MOVJCLASS.StartPos = MotionScript.CurrentAngle_All();
MOVJCLASS.EndPos = new float[] { -13.14824f, 19.40651f, 30.1102f, -17.07535f, -50.79452f, 10.98974f };
MOVJCLASS.StartRun();
yield return(new WaitForSeconds(3.0f));
//add movl p2
showtips(stage_name[1]);
ReadTips(stage_name[1]);
waittime = GetVoiceTime(stage_name[1]);
yield return(StartCoroutine(Timer(waittime)));
button.MouseMove(0, 41);
FuncPara.loopControl = 0;
yield return(StartCoroutine(WaitLoop()));
yield return(StartCoroutine(button.ButtonClick(41))); //add
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(9))); //down
yield return(StartCoroutine(button.ButtonClick(6))); //chose
showtips(stage_name[2]);
ReadTips(stage_name[2]);
waittime = GetVoiceTime(stage_name[2]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(37))); //4
yield return(StartCoroutine(button.ButtonClick(36))); //input
}
else
{
Debug.Log("pass" + stage_current);
GetCurrentCode();
GetCurrentPosition();
yield return(StartCoroutine(DoubleE()));
}
}
IEnumerator phase_10()//movl p4
{
if (GSKDATA.SoftCurrentMode == "Teach")
{
float waittime = 0;
ShowTips();
ReadTips(TitleName[stage_current]);
waittime = GetVoiceTime(TitleName[stage_current]);
yield return(StartCoroutine(Timer(waittime)));
LstageRead();
showtips(stage_name[0]);
ReadTips(stage_name[0]);
waittime = GetVoiceTime(stage_name[0]);
yield return(StartCoroutine(Timer(waittime)));
//12按钮同时高亮
button.StartCoroutine(button.HighlightAxisBt());
//运动
MOVJCLASS.StartPos = MotionScript.CurrentAngle_All();
MOVJCLASS.EndPos = new float[] { 111.00f, 5.93f, -4.44f, 3.28f, 83.54f, 21.27f };
MOVJCLASS.StartRun();
yield return(new WaitForSeconds(3.0f));
//add movl p4
showtips(stage_name[1]);
ReadTips(stage_name[1]);
waittime = GetVoiceTime(stage_name[1]);
yield return(StartCoroutine(Timer(waittime)));
button.MouseMove(0, 41);
FuncPara.loopControl = 0;
yield return(StartCoroutine(WaitLoop()));
yield return(StartCoroutine(button.ButtonClick(41))); //add
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(9))); //down
yield return(StartCoroutine(button.ButtonClick(6))); //chose
showtips(stage_name[2]);
ReadTips(stage_name[2]);
waittime = GetVoiceTime(stage_name[2]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(37))); //4
yield return(StartCoroutine(button.ButtonClick(36))); //input
showtips(stage_name[3]);
ReadTips(stage_name[3]);
waittime = GetVoiceTime(stage_name[3]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(6)));//chose
}
else
{
Debug.Log("pass" + stage_current);
GetCurrentCode();
GetCurrentPosition();
yield return(StartCoroutine(DoubleE()));
}
}
IEnumerator phase_5()//movl p4 v20
{
if (GSKDATA.SoftCurrentMode == "Teach")
{
//CameraPosition();
float waittime = 0;
ShowTips();
ReadTips(TitleName[stage_current]);
waittime = GetVoiceTime(TitleName[stage_current]);
yield return(StartCoroutine(Timer(waittime)));
LstageRead();
showtips(stage_name[0]);
ReadTips(stage_name[0]);
waittime = GetVoiceTime(stage_name[0]);
yield return(StartCoroutine(Timer(waittime)));
//12按钮同时高亮
button.StartCoroutine(button.HighlightAxisBt());
//运动
MOVJCLASS.StartPos = MotionScript.CurrentAngle_All();
MOVJCLASS.EndPos = new float[] { -12.0844f, -35.44544f, 50.34214f, 23.70327f, 24.57695f, -29.10693f };
MOVJCLASS.StartRun();
yield return(new WaitForSeconds(3.0f));
//add movj p2 v50
showtips(stage_name[1]);
ReadTips(stage_name[1]);
waittime = GetVoiceTime(stage_name[1]);
yield return(StartCoroutine(Timer(waittime)));
button.MouseMove(0, 41);
FuncPara.loopControl = 0;
yield return(StartCoroutine(WaitLoop()));
yield return(StartCoroutine(button.ButtonClick(41))); //add
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(6))); //chose
showtips(stage_name[2]);
ReadTips(stage_name[2]);
waittime = GetVoiceTime(stage_name[2]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(37))); //4
yield return(StartCoroutine(button.ButtonClick(36))); //input
showtips(stage_name[3]);
ReadTips(stage_name[3]);
waittime = GetVoiceTime(stage_name[3]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(38))); //5
yield return(StartCoroutine(button.ButtonClick(52))); //0
yield return(StartCoroutine(button.ButtonClick(36))); //input
}
else
{
Debug.Log("pass" + stage_current);
GetCurrentCode();
GetCurrentPosition();
yield return(StartCoroutine(DoubleE()));
}
}
IEnumerator phase_3()//movl p3 v20
{
if (GSKDATA.SoftCurrentMode == "Teach")
{
//CameraPosition();
float waittime = 0;
ShowTips();
ReadTips(TitleName[stage_current]);
waittime = GetVoiceTime(TitleName[stage_current]);
yield return(StartCoroutine(Timer(waittime)));
LstageRead();
showtips(stage_name[0]);
ReadTips(stage_name[0]);
waittime = GetVoiceTime(stage_name[0]);
yield return(StartCoroutine(Timer(waittime)));
//12按钮同时高亮
button.StartCoroutine(button.HighlightAxisBt());
//运动
MOVJCLASS.StartPos = MotionScript.CurrentAngle_All();
MOVJCLASS.EndPos = new float[] { -8.742731f, -14.47661f, 36.62946f, 25.04917f, 16.66096f, -29.40728f };
MOVJCLASS.StartRun();
yield return(new WaitForSeconds(3.0f));
//add movl p3 v20
showtips(stage_name[1]);
ReadTips(stage_name[1]);
waittime = GetVoiceTime(stage_name[1]);
yield return(StartCoroutine(Timer(waittime)));
button.MouseMove(0, 41);
FuncPara.loopControl = 0;
yield return(StartCoroutine(WaitLoop()));
yield return(StartCoroutine(button.ButtonClick(41))); //add
yield return(StartCoroutine(button.ButtonClick(6))); //chose
yield return(StartCoroutine(button.ButtonClick(9))); //down
yield return(StartCoroutine(button.ButtonClick(6))); //chose
showtips(stage_name[2]);
ReadTips(stage_name[2]);
waittime = GetVoiceTime(stage_name[2]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(46))); //3
yield return(StartCoroutine(button.ButtonClick(36))); //input
showtips(stage_name[3]);
ReadTips(stage_name[3]);
waittime = GetVoiceTime(stage_name[3]);
yield return(StartCoroutine(Timer(waittime)));
yield return(StartCoroutine(button.ButtonClick(8))); //right
yield return(StartCoroutine(button.ButtonClick(45))); //2
yield return(StartCoroutine(button.ButtonClick(52))); //0
yield return(StartCoroutine(button.ButtonClick(36))); //input
}
else
{
Debug.Log("pass" + stage_current);
GetCurrentCode();
GetCurrentPosition();
yield return(StartCoroutine(DoubleE()));
}
}
