//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(); }
//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"); }
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(); } }