/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
int ret;
// start connect
if ((ret = DobotDll.ConnectDobot()) >= (int)DobotResult.DobotResult_Error_Min)
{
Msg("Connect error ,code:" + ret.ToString(), MsgInfoType.Error);
return;
}
isConnectted = true;
// reset and start
//DobotDll.ResetDobot();
DobotDll.SetCmdTimeout(500);
DobotDll.SetEndType(EndType.EndTypePump);
// Must set when sensor is not exist
InitialPose initialPose;
initialPose.joint2Angle = 45;
initialPose.joint3Angle = 45;
DobotDll.SetInitialPose(ref initialPose);
JogStaticParams jsParam;
jsParam.jointMaxVelocity = 15;
jsParam.jointMaxAcceleration = 50;
jsParam.servoMaxVelocity = 30;
jsParam.servoMaxAcceleration = 10;
jsParam.linearMaxVelocity = 40;
jsParam.linearMaxAcceleration = 40;
DobotDll.SetJogStaticParams(ref jsParam);
JogDynamicParams jdParam;
jdParam.velocityRatio = 30;
DobotDll.SetJogDynamicParams(ref jdParam);
PlaybackStaticParams pbsParam;
pbsParam.jointMaxVelocity = 200;
pbsParam.jointMaxAcceleration = 200;
pbsParam.servoMaxVelocity = 200;
pbsParam.servoMaxAcceleration = 200;
pbsParam.linearMaxVelocity = 800;
pbsParam.linearMaxAcceleration = 1000;
pbsParam.pauseTime = 100;
pbsParam.jumpHeight = 20;
DobotDll.SetPlaybackStaticParams(ref pbsParam);
PlaybackDynamicParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPlaybackDynamicParams(ref pbdParam);
}
private void ComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (!isConnectted)
{
return;
}
ComboBox obj = (ComboBox)sender;
String tag = obj.Tag.ToString();
if (tag == "mode")
{
bool isJ = ((ComboBoxItem)obj.SelectedItem).Content.ToString() == "Axis";
isJoint = isJ ? (byte)1 : (byte)0;
if (isJ)
{
XI.Content = "Joint1+";
YI.Content = "Joint2+";
ZI.Content = "Joint3+";
RI.Content = "Joint4+";
XN.Content = "Joint1-";
YN.Content = "Joint2-";
ZN.Content = "Joint3-";
RN.Content = "Joint4-";
}
else
{
XI.Content = "X+";
YI.Content = "Y+";
ZI.Content = "Z+";
RI.Content = "R+";
XN.Content = "X-";
YN.Content = "Y-";
ZN.Content = "Z-";
RN.Content = "R-";
}
}
else if (tag == "headType")
{
string str = ((ComboBoxItem)obj.SelectedItem).Content.ToString();
if (str == "Pump")
{
DobotDll.SetEndType(EndType.EndTypePump);
cbGrab.IsEnabled = true;
cbLaser.IsEnabled = false;
btnGrpOn.IsEnabled = false;
btnGrpOff.IsEnabled = false;
}
else if (str == "Gripper")
{
cbGrab.IsEnabled = false;
cbLaser.IsEnabled = false;
btnGrpOn.IsEnabled = true;
btnGrpOff.IsEnabled = true;
DobotDll.SetEndType(EndType.EndTypeGripper);
}
else if (str == "Laser")
{
cbGrab.IsEnabled = false;
cbLaser.IsEnabled = true;
btnGrpOn.IsEnabled = false;
btnGrpOff.IsEnabled = false;
DobotDll.SetEndType(EndType.EndTypeLaser);
}
}
}
