private void 修正点ToolStripMenuItem_Click(object sender, EventArgs e)
{
try
{
if (product_num != 0)
{
return;
}
if (dataGridView1.CurrentRow == null)
{
return;
}
int num = dataGridView1.CurrentRow.Index;
PointF4 point = new PointF4();
point.X = DeviceRsDef.Axis_X.currPos;
point.Y = DeviceRsDef.Axis_Y.currPos;
point.Z = 1f;
point.R = 0;
if (MessageBox.Show("修改前，请确保定位到了需要校阵的点", "提示", MessageBoxButtons.OKCancel) == DialogResult.OK)
{
dataGridView1.Rows[dataGridView1.SelectedRows[0].Index].Cells[1].Value = point.X.ToString("f2");
dataGridView1.Rows[dataGridView1.SelectedRows[0].Index].Cells[2].Value = point.Y.ToString("f2");
dataGridView1.Rows[dataGridView1.SelectedRows[0].Index].Cells[3].Value = point.R.ToString("f2");
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
public PolishPlatformPara()
{
machinePolish = new PointF2();
machinePolishcarmera = new PointF2();
ResetPos = new PointF4();
EndPos = new PointF4();
}
public ReverseData()
{
ResetPos = new PointF4();
EndPos = new PointF4();
WorkPos = new PointF4();
ReversZ = 0;
}
public bool Start(PointF4 StickPos)
{
LG.Exe();
Para.NuzzleSwitch = 1;
Para.PointData = StickPos;
return(true);
}
public TinCleanData()
{
CleanPos = new PointF4();
CleanTime = 100;
PosLength = 10;
PosSpeed = 75;
NegLength = 10;
NegSpeed = 75;
}
public FeederParaDef()
{
TakePos = new PointF4();
EndTakePos = new PointF4();
FeederMode = new List <bool>()
{
true, false
};
}
/// <summary>
/// 相机中心到焊锡头转换
/// </summary>
/// <param name="id">平台编号</param>
/// <param name="SolderPos">相机给的打磨点数据</param>
/// <returns></returns>
public static PointF4 CameraToSolderPos(int id, PointF4 SolderPos)
{
PointF4 f4 = new PointF4();
f4.X = SolderPos.X + ProjectData.Instance.SaveData.SolderPlatform[id].machineSoldercamera.X - ProjectData.Instance.SaveData.SolderPlatform[id].machineSolder.X;
f4.Y = SolderPos.Y + ProjectData.Instance.SaveData.SolderPlatform[id].machineSoldercamera.Y - ProjectData.Instance.SaveData.SolderPlatform[id].machineSolder.Y;
f4.Z = SolderPos.Z;
f4.R = SolderPos.R;
return(f4);
}
/// <summary>
/// 相机中心转换到打磨头
/// </summary>
/// <param name="id">平台编号</param>
/// <param name="PolishPos">拍照给的打磨点数据</param>
/// <returns></returns>
public static PointF4 CameraToPolisherPos(int id, PointF4 PolishPos)
{
PointF4 f4 = new PointF4();
f4.X = PolishPos.X + ProjectData.Instance.SaveData.PolishPlatform[id].machinePolishcarmera.X - ProjectData.Instance.SaveData.PolishPlatform[id].machinePolish.X;
f4.Y = PolishPos.Y + ProjectData.Instance.SaveData.PolishPlatform[id].machinePolishcarmera.Y - ProjectData.Instance.SaveData.PolishPlatform[id].machinePolish.Y;
f4.Z = PolishPos.Z;
f4.R = PolishPos.R;
return(f4);
}
public SolderPlatformPara()
{
machineSolder = new PointF2();
machineSoldercamera = new PointF2();
ResetPos = new PointF4();
EndPos = new PointF4();
teachingMechine = new TeachingMechinePra();
UseR = false;
PerTimesClean = 1;
}
public PolishData()
{
TotalReimburse = 0;
Interval = 500;
Reimburse = 0.1f;
TotalReimburse = 0;
CTDelay = 25;
SafeZ = 0;
TimesTotal = 500;
EndPos = new PointF4();
}
private PointF4 StickPos(int Num)
{
PointF4 stickPosTerm = new PointF4();
stickPosTerm.X = Product.Inst.ProcessData.NuzzlePara[Num].CCDPos.X + Product.Inst.ProcessData.CurrStickWhichPoint().X;
stickPosTerm.Y = Product.Inst.ProcessData.NuzzlePara[Num].CCDPos.Y + Product.Inst.ProcessData.CurrStickWhichPoint().Y;
stickPosTerm.Z = Product.Inst.ProcessData.CurrStickWhichPoint().Z;
stickPosTerm.R = Product.Inst.ProcessData.CurrStickWhichPoint().R + Product.Inst.ProcessData.NuzzlePara[Num].CCDPos.R;
stickPos = Product.Inst.Stickdata.StickSysData.UpCCDToNuzzle(Num, stickPosTerm);
return(stickPos);
}
public PolishCleanData()
{
TimesSum = 50;
Mode = 1;
CleanTimes = 1;
range = 0.5f;
CleanTime = 100;
CleanPos = new PointF4();
CleanEndPos = new PointF4();
CleanSpeed = 100;
interval = 0.5f;
}
} // 在初始机械结构中，焊头在旋转中前状态时候的初始角度，
// 为了计算焊头的点转换成相机点的一种转换方式
public TeachingMechinePra()
{
ZeroPostion = new PointF2();
ReversePostion = new PointF2();
RotatePostion = new PointF2();
RotatePstionCameraSize = new PointF2();
CameraRotatePostion = new PointF2();
HXT_OrgPostion = new PointF4();
RotatePstionHXT_Size = new PointF2();
RotatePostionStartAngle = 0;
Radius = 0;
}
private void SaveProductData(ProductDef product)
{
Mark1 = product.MarkPoint[0];
Mark2 = product.MarkPoint[1];
Code = product.CodePoint2;
BackCT = product.BackCT;
Mark1.X = (float)Convert.ToDouble(Mark1X.Text);
Mark1.Y = (float)Convert.ToDouble(Mark1Y.Text);
Mark2.X = (float)Convert.ToDouble(Mark2X.Text);
Mark2.Y = (float)Convert.ToDouble(Mark2Y.Text);
BackCT.X = (float)Convert.ToDouble(BackCTX.Text);
BackCT.Y = (float)Convert.ToDouble(BackCTY.Text);
Code.X = (float)Convert.ToDouble(CodeX.Text);
Code.Y = (float)Convert.ToDouble(CodeY.Text);
}
public bool Start(PointF4 pos)
{
if (LG.execute == 0)
{
Para.PointData.X = pos.X;
Para.PointData.Y = pos.Y;
Para.PointData.Z = pos.Z;
Para.PointData.R = pos.R;
Para.NuzzleSwitch = 1;
LG.Exe();
return(true);
}
else
{
return(false);
}
}
public ProcessDataDef()
{
PlatformData = new List <PlatformData>();
for (int i = 0; i < 8; i++)
{
PlatformData.Add(new PlatformData());
}
LocatedPointPos = new PointF4();
Agingdataforpolish = new PolishDef();
Agingdataforsolder = new SolderDef();
LPolishModel = new List <PolishModel>();
RPolishModel = new List <PolishModel>();
LSolderModel = new List <SolderModel>();
RSolderModel = new List <SolderModel>();
}
/// <summary>
/// 上相机坐标转换为吸嘴坐标
/// </summary>
/// <param name="whichNuzzle">哪个吸嘴</param>
/// <param name="pos">相机中心位置</param>
/// <returns></returns>
public PointF4 UpCCDToNuzzle(int whichNuzzle, PointF4 pos)
{
if (whichNuzzle == 0)
{
PointF4 p = new PointF4();
p.X = pos.X - (LiftCCDPos.X - LiftNuzzlePos.X);
p.Y = pos.Y - (LiftCCDPos.Y - LiftNuzzlePos.Y);
p.Z = pos.Z;
p.R = pos.R;
return(p);
}
else
{
PointF4 p = new PointF4();
p.X = pos.X - (RightCCDPos.X - RightNuzzlePos.X);
p.Y = pos.Y - (RightCCDPos.Y - RightNuzzlePos.Y);
p.R = pos.R;
p.Z = pos.Z;
return(p);
}
}
private void RefreshTableList()
{
var Product = Database.Product.Inst.Stickdata.TrayData.ProductList[product_num];
Mark1 = Product.MarkPoint[0];
Mark2 = Product.MarkPoint[1];
Code = Product.CodePoint2;
BackCT = Product.BackCT;
Mark1X.Text = Mark1.X.ToString();
Mark1Y.Text = Mark1.Y.ToString();
Mark2X.Text = Mark2.X.ToString();
Mark2Y.Text = Mark2.Y.ToString();
BackCTX.Text = BackCT.X.ToString();
BackCTY.Text = BackCT.Y.ToString();
CodeX.Text = Code.X.ToString();
CodeY.Text = Code.Y.ToString();
dataGridView1.AutoGenerateColumns = false;
BindingSource source = new BindingSource();
source.DataSource = Product.SiteList;
dataGridView1.DataSource = source;
dataGridView1.Columns[0].DataPropertyName = "SitePoint_num";
dataGridView1.Columns[0].DefaultCellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
dataGridView1.Columns[0].DefaultCellStyle.Format = "0";
dataGridView1.Columns[1].DataPropertyName = "X";
dataGridView1.Columns[1].DefaultCellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
dataGridView1.Columns[1].DefaultCellStyle.Format = "00.000";
dataGridView1.Columns[2].DataPropertyName = "Y";
dataGridView1.Columns[2].DefaultCellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
dataGridView1.Columns[2].DefaultCellStyle.Format = "00.000";
dataGridView1.Columns[3].DataPropertyName = "R";
dataGridView1.Columns[3].DefaultCellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
dataGridView1.Columns[3].DefaultCellStyle.Format = "00.000";
dataGridView1.Columns[4].DataPropertyName = "Z";
dataGridView1.Columns[4].DefaultCellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
dataGridView1.Columns[4].DefaultCellStyle.Format = "00.000";
}
public PolishPosData()
{
Pos = new PointF4();
polishData = new PolishDef();
}
public TakeLabelParaDef()
{
TakePos = new PointF4();
}
public NuzzleParaDef()
{
CCDPos = new PointF4();
}
private void button8_Click(object sender, EventArgs e)//定位
{
int index = comboBox1.SelectedIndex;
DialogResult data = DialogResult.None;
if (RowCount < 0)
{
return;
}
PointF4 f4 = new PointF4();
float x = 0;
float y = 0;
float aa = 0;
switch (_id)
{
case LEFT_SOLDER:
f4.X = _SolderPos[index].pos[RowCount].pos.X + _SolderPos[index].Vpos.X;
f4.Y = _SolderPos[index].pos[RowCount].pos.Y + _SolderPos[index].Vpos.Y;
f4.Z = _SolderPos[index].pos[RowCount].pos.Z;
f4.R = _SolderPos[index].pos[RowCount].pos.R;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "焊锡左X;" + f4.X.ToString() + "Y：" + f4.Y.ToString() + "Z：" + f4.Z.ToString() + "R：" + f4.R.ToString() + "基点X：" + _SolderPos[index].Vpos.X.ToString() + "Y:" + _SolderPos[index].Vpos.Y.ToString());
if (FormMain.RunProcess.LogicData.RunData.Rotate)
{
FormMain.RunProcess.Transorm(Logic.UsingPlatformSelect.Left, _SolderPos[index].Vpos.X, _SolderPos[index].Vpos.Y,
f4.X, f4.Y, f4.R, this.ang, out x, out y);
aa = (float)(this.ang * 180 / Math.PI);
while (!FormMain.RunProcess.LogicAPI.PlatformMove[0].exe((int)AxisDef.AxX1, ((int)AxisDef.AxY1),
(int)AxisDef.AxZ1, (int)AxisDef.AxR1, ((int)AxisDef.AxT1), x, y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL, f4.R + aa, 2, 0))
{
Thread.Sleep(1);
}
}
else
{
while (!FormMain.RunProcess.LogicAPI.PlatformMove[0].exe((int)AxisDef.AxX1, ((int)AxisDef.AxY1),
(int)AxisDef.AxZ1, (int)AxisDef.AxR1, ((int)AxisDef.AxT1), f4.X, f4.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL, f4.R, 2, 0))
{
Thread.Sleep(1);
}
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[0].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[0].start != 1))
{
Thread.Sleep(1);
}
if (MessageBox.Show("是否Z轴下降到焊点", "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
FormMain.RunProcess.movedriverZm.MoveAbs((int)AxisDef.AxZ1, FormMain.RunProcess.LogicData.slaverData.basics.TeachSpeedL, f4.Z);
}
break;
case RIGHT_SOLSER:
f4.X = _SolderPos[index].pos[RowCount].pos.X + _SolderPos[index].Vpos.X;
f4.Y = _SolderPos[index].pos[RowCount].pos.Y + _SolderPos[index].Vpos.Y;
f4.Z = _SolderPos[index].pos[RowCount].pos.Z;
f4.R = _SolderPos[index].pos[RowCount].pos.R;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "焊锡右X;" + f4.X.ToString() + "Y：" + f4.Y.ToString() + "Z：" + f4.Z.ToString() + "R：" + f4.R.ToString() + "基点X：" + _SolderPos[index].Vpos.X.ToString() + "Y:" + _SolderPos[index].Vpos.Y.ToString());
if (FormMain.RunProcess.LogicData.RunData.Rotate_r)
{
FormMain.RunProcess.Transorm(Logic.UsingPlatformSelect.Right, _SolderPos[index].Vpos.X, _SolderPos[index].Vpos.Y,
f4.X, f4.Y, f4.R, this.ang, out x, out y);
aa = (float)(this.ang * 180 / Math.PI);
while (!FormMain.RunProcess.LogicAPI.PlatformMove[1].exe((int)AxisDef.AxX2, ((int)AxisDef.AxY2),
(int)AxisDef.AxZ2, (int)AxisDef.AxR2, ((int)AxisDef.AxT2), x, y, /*f4.X, f4.Y,*/ FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZR, f4.R + aa, 2, 0))
{
Thread.Sleep(1);
}
}
else
{
while (!FormMain.RunProcess.LogicAPI.PlatformMove[1].exe((int)AxisDef.AxX2, ((int)AxisDef.AxY2),
(int)AxisDef.AxZ2, (int)AxisDef.AxR2, ((int)AxisDef.AxT2), f4.X, f4.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZR, f4.R, 2, 0))
{
Thread.Sleep(1);
}
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[1].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[1].start != 1))
{
Thread.Sleep(1);
}
if (MessageBox.Show("是否Z轴下降到焊点", "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
FormMain.RunProcess.movedriverZm.MoveAbs((int)AxisDef.AxZ2, FormMain.RunProcess.LogicData.slaverData.basics.TeachSpeedR, f4.Z);
}
break;
case LEFT_POLISH:
f4.X = _polishPos[index].pos[RowCount].pos.X + _polishPos[index].Vpos.X;
f4.Y = _polishPos[index].pos[RowCount].pos.Y + _polishPos[index].Vpos.Y;
f4.Z = _polishPos[index].pos[RowCount].pos.Z;
f4.R = _polishPos[index].pos[RowCount].pos.R;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "打磨左X;" + f4.X.ToString() + "Y：" + f4.Y.ToString() + "Z：" + f4.Z.ToString() + "R：" + f4.R.ToString() + "基点X：" + _polishPos[index].Vpos.X.ToString() + "Y:" + _polishPos[index].Vpos.Y.ToString());
while (!FormMain.RunProcess.LogicAPI.PlatformMove[0].exe((int)AxisDef.AxX3, ((int)AxisDef.AxY1),
(int)AxisDef.AxZ3, (int)AxisDef.AxR3, ((int)AxisDef.AxT1), f4.X, f4.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_Z, f4.R, 2, 0))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[0].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[0].start != 1))
{
Thread.Sleep(1);
}
if (MessageBox.Show("是否Z轴下降到磨点", "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
FormMain.RunProcess.movedriverZm.MoveAbs((int)AxisDef.AxZ3, FormMain.RunProcess.LogicData.slaverData.basics.TeachSpeed, f4.Z);
}
break;
case RIGHT_POLISH:
f4.X = _polishPos[index].pos[RowCount].pos.X + _polishPos[index].Vpos.X;
f4.Y = _polishPos[index].pos[RowCount].pos.Y + _polishPos[index].Vpos.Y;
f4.Z = _polishPos[index].pos[RowCount].pos.Z;
f4.R = _polishPos[index].pos[RowCount].pos.R;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "打磨右X;" + f4.X.ToString() + "Y：" + f4.Y.ToString() + "Z：" + f4.Z.ToString() + "R：" + f4.R.ToString() + "基点X：" + _polishPos[index].Vpos.X.ToString() + "Y:" + _polishPos[index].Vpos.Y.ToString());
while (!FormMain.RunProcess.LogicAPI.PlatformMove[1].exe((int)AxisDef.AxX3, ((int)AxisDef.AxY2),
(int)AxisDef.AxZ3, (int)AxisDef.AxR3, ((int)AxisDef.AxT2), f4.X, f4.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_Z, f4.R, 2, 0))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[1].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[1].start != 1))
{
Thread.Sleep(1);
}
if (MessageBox.Show("是否Z轴下降到磨点", "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
FormMain.RunProcess.movedriverZm.MoveAbs((int)AxisDef.AxZ3, FormMain.RunProcess.LogicData.slaverData.basics.TeachSpeed, f4.Z);
}
break;
}
}
private void button7_Click(object sender, EventArgs e)
{
button2_Click(null, null);
Thread.Sleep(200);
PointF4 f4 = new PointF4();
PointF? point = null;
switch (_id)
{
case LEFT_SOLDER:
//VisionProject.Instance.LocateSolderLeftShape();
f4.X = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxX1];
f4.Y = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxY1];
point = VisionProject.Instance.LocateSolderLeftShape(hImage.Clone(), OperShapeIndex, this.hWndCtrller, out this.ang);
Thread.Sleep(100);
if (point != null)
{
_SolderPos[OperShapeIndex].Vpos.X = f4.X + point.Value.X;
_SolderPos[OperShapeIndex].Vpos.Y = f4.Y + point.Value.Y;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "拍照识别偏差 X;" + point.Value.X.ToString() + "Y;" + point.Value.Y.ToString()
+ "基点坐标X:" + _SolderPos[OperShapeIndex].Vpos.X.ToString() + "Y:" + _SolderPos[OperShapeIndex].Vpos.Y.ToString());
string info = "X偏移" + point.Value.X.ToString("f2") + "，Y偏移" + point.Value.Y.ToString("f2") + ",是否移动到中心点？";
if (MessageBox.Show(info, "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
while (!FormMain.RunProcess.LogicAPI.PlatformMove[0].exe((int)AxisDef.AxX1, ((int)AxisDef.AxY1), (int)AxisDef.AxZ1, (int)AxisDef.AxR1, ((int)AxisDef.AxT1), _SolderPos[OperShapeIndex].Vpos.X, _SolderPos[OperShapeIndex].Vpos.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL, 0, 2, 0))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[0].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[0].start != 1))
{
Thread.Sleep(1);
}
}
button5.Enabled = button9.Enabled = button8.Enabled = true;
}
else
{
MessageBox.Show("基准点设置失败");
button5.Enabled = button9.Enabled = button8.Enabled = false;
}
break;
case RIGHT_SOLSER:
//VisionProject.Instance.LocateSolderRightShape();
f4.X = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxX2];
f4.Y = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxY2];
point = VisionProject.Instance.LocateSolderRightShape(hImage.Clone(), OperShapeIndex, this.hWndCtrller, out this.ang);
Thread.Sleep(100);
if (point != null)
{
_SolderPos[OperShapeIndex].Vpos.X = f4.X + point.Value.X;
_SolderPos[OperShapeIndex].Vpos.Y = f4.Y + point.Value.Y;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "拍照识别偏差 X;" + point.Value.X.ToString() + "Y;" + point.Value.Y.ToString()
+ "基点坐标X:" + _SolderPos[OperShapeIndex].Vpos.X.ToString() + "Y:" + _SolderPos[OperShapeIndex].Vpos.Y.ToString());
string info = "X偏移" + point.Value.X.ToString("f2") + "，Y偏移" + point.Value.Y.ToString("f2") + ",是否移动到中心点？";
if (MessageBox.Show(info, "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
while (!FormMain.RunProcess.LogicAPI.PlatformMove[1].exe((int)AxisDef.AxX2, ((int)AxisDef.AxY2), (int)AxisDef.AxZ2, (int)AxisDef.AxR2, ((int)AxisDef.AxT2), _SolderPos[OperShapeIndex].Vpos.X, _SolderPos[OperShapeIndex].Vpos.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL, 0, 2, 0))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[1].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[1].start != 1))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[0].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[0].start != 1))
{
Thread.Sleep(1);
}
}
button5.Enabled = button9.Enabled = button8.Enabled = true;
}
else
{
MessageBox.Show("基准点设置失败");
button5.Enabled = button9.Enabled = button8.Enabled = false;
}
break;
case LEFT_POLISH:
//VisionProject.Instance.LocatePolishLeftShape();
f4.X = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxX3];
f4.Y = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxY1];
point = VisionProject.Instance.LocatePolishLeftShape(hImage.Clone(), OperShapeIndex, this.hWndCtrller);
Thread.Sleep(100);
if (point != null)
{
_polishPos[OperShapeIndex].Vpos.X = f4.X + point.Value.X;
_polishPos[OperShapeIndex].Vpos.Y = f4.Y + point.Value.Y;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "拍照识别偏差 X;" + point.Value.X.ToString() + "Y;" + point.Value.Y.ToString()
+ "基点坐标X:" + _polishPos[OperShapeIndex].Vpos.X.ToString() + "Y:" + _polishPos[OperShapeIndex].Vpos.Y.ToString());
string info = "X偏移" + point.Value.X.ToString("f2") + "，Y偏移" + point.Value.Y.ToString("f2") + ",是否移动到中心点？";
if (MessageBox.Show(info, "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
while (!FormMain.RunProcess.LogicAPI.PlatformMove[0].exe((int)AxisDef.AxX3, ((int)AxisDef.AxY1), (int)AxisDef.AxZ3, (int)AxisDef.AxR3, ((int)AxisDef.AxT1), _polishPos[OperShapeIndex].Vpos.X, _polishPos[OperShapeIndex].Vpos.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL, 0, 2, 0))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[0].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[0].start != 1))
{
Thread.Sleep(1);
}
}
button5.Enabled = button9.Enabled = button8.Enabled = true;
}
else
{
MessageBox.Show("基准点设置失败");
button5.Enabled = button9.Enabled = button8.Enabled = false;
}
break;
case RIGHT_POLISH:
//VisionProject.Instance.LocatePolishRightShape();
f4.X = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxX3];
f4.Y = FormMain.RunProcess.movedriverZm.CurrentPos.FloatValue[(int)AxisDef.AxY2];
point = VisionProject.Instance.LocatePolishRightShape(hImage.Clone(), OperShapeIndex, this.hWndCtrller);
Thread.Sleep(100);
if (point != null)
{
_polishPos[OperShapeIndex].Vpos.X = f4.X + point.Value.X;
_polishPos[OperShapeIndex].Vpos.Y = f4.Y + point.Value.Y;
Tools.WriteLog.AddLog(DateTime.Now.ToString() + "拍照识别偏差 X;" + point.Value.X.ToString() + "Y;" + point.Value.Y.ToString()
+ "基点坐标X:" + _polishPos[OperShapeIndex].Vpos.X.ToString() + "Y:" + _polishPos[OperShapeIndex].Vpos.Y.ToString());
string info = "X偏移" + point.Value.X.ToString("f2") + "，Y偏移" + point.Value.Y.ToString("f2") + ",是否移动到中心点？";
if (MessageBox.Show(info, "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
while (!FormMain.RunProcess.LogicAPI.PlatformMove[1].exe((int)AxisDef.AxX3, ((int)AxisDef.AxY2), (int)AxisDef.AxZ3, (int)AxisDef.AxR3, (int)AxisDef.AxT2, _polishPos[OperShapeIndex].Vpos.X, _polishPos[OperShapeIndex].Vpos.Y, FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL, 0, 2, 0))
{
Thread.Sleep(1);
}
Thread.Sleep(100);
while (!(FormMain.RunProcess.LogicAPI.PlatformMove[1].sta() && FormMain.RunProcess.LogicAPI.PlatformMove[1].start != 1))
{
Thread.Sleep(1);
}
}
button5.Enabled = button9.Enabled = button8.Enabled = true;
}
else
{
MessageBox.Show("基准点设置失败");
button5.Enabled = button9.Enabled = button8.Enabled = false;
}
break;
}
Repaint();
}
private void 添加点ToolStripMenuItem_Click(object sender, EventArgs e)
{
int type = 0;
if (Database.Product.Inst.Stickdata.TrayData.ProductList.Count < 1)
{
ProductDef product = new ProductDef();
Database.Product.Inst.Stickdata.TrayData.ProductList.Add(product);
product_num = 0;
RefreshTreeView();
}
PointF4 point = new PointF4();
HTuple X = new HTuple();
HTuple Y = new HTuple();
if (TaskMain.sticklogic.markscan.GetDone &&
TaskMain.sticklogic.markscan.MarkResult.Count > 0 &&
TaskMain.sticklogic.markscan.MarkResult.Count >= (product_num * 2 + 1))
{
//VisionProject.Instance.SetBenchmark1(Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].MarkPoint[0].X,
// Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].MarkPoint[0].Y,
// Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].MarkPoint[0].R,
// 0, Database.Product.Inst.Stickdata.TrayData.MarkMode == 0 ? false : true);
//VisionProject.Instance.SetBenchmark1(Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].MarkPoint[1].X,
// Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].MarkPoint[1].Y,
// Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].MarkPoint[1].R,
// 1, Database.Product.Inst.Stickdata.TrayData.MarkMode == 0 ? false : true);
//VisionProject.Instance.SetBenchmark2(TaskMain.sticklogic.markscan.MarkResult[product_num * 2].X,
//TaskMain.sticklogic.markscan.MarkResult[product_num * 2].Y,
// TaskMain.sticklogic.markscan.MarkResult[product_num * 2].R,
// 0, Database.Product.Inst.Stickdata.TrayData.MarkMode == 0 ? false : true);
//VisionProject.Instance.SetBenchmark2(TaskMain.sticklogic.markscan.MarkResult[product_num * 2 + 1].X,
// TaskMain.sticklogic.markscan.MarkResult[product_num * 2 + 1].Y,
// TaskMain.sticklogic.markscan.MarkResult[product_num * 2 + 1].R,
// 1, Database.Product.Inst.Stickdata.TrayData.MarkMode == 0 ? false : true);
//VisionProject.Instance.ReverseTransPoint2d(DeviceRsDef.Axis_X.currPos, DeviceRsDef.Axis_Y.currPos,
// out X, out Y, Database.Product.Inst.Stickdata.TrayData.MarkMode == 0 ? false : true);
}
else
{
MessageBox.Show("先扫描mark点");
return;
}
SitePoint site = new SitePoint();
site.X = X[0].F;
site.Y = Y[0].F;
site.Z = 1f;
site.R = 0;
site.LableType = type;
site.Product_num = product_num;
site.SitePoint_num = Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].SiteList.Count;
Database.Product.Inst.Stickdata.TrayData.ProductList[product_num].SiteList.Add(site);
RefreshTableList();
}
public PolishPosdata()
{
pos = new PointF4();
polishDef = new PolishDef();
}
private PointF4 TakePos(int Num)
{
PointF4 pos = Product.Inst.Stickdata.StickSysData.UpCCDToNuzzle(Num, Product.Inst.Stickdata.FeederPara.TakePos);
return(pos);
}
public SolderData()
{
TinEndPos = new PointF4();
SafeZ = 0;
CTDelay = 25;
}
private void buttonArr_Click(object sender, EventArgs e)
{
if ((!radioButton1.Checked) && (!radioButton2.Checked))
{
MessageBox.Show("请选择方向并确认");
return;
}
int Num = Convert.ToInt32(numericUpDown10.Value);
int dripDirection = radioButton1.Checked ? 0 : 1;//点胶方式
pLeftUp.X = Convert.ToSingle(numericUpDown1.Value);
pLeftUp.Y = Convert.ToSingle(numericUpDown2.Value);
pLeftUp.Z = Convert.ToSingle(numericUpDown3.Value);
pRightUp.X = Convert.ToSingle(numericUpDown4.Value);
pRightUp.Y = Convert.ToSingle(numericUpDown5.Value);
pRightUp.Z = Convert.ToSingle(numericUpDown6.Value);
pRightDwon.X = Convert.ToSingle(numericUpDown7.Value);
pRightDwon.Y = Convert.ToSingle(numericUpDown8.Value);
pRightDwon.Z = Convert.ToSingle(numericUpDown9.Value);
List <PointF3> List;
if (dripDirection == 0)
{
List = PointArray.MatrixArrayList(pLeftUp, pRightUp, pRightDwon, Num, 2, dripDirection);
}
else
{
List = PointArray.MatrixArrayList(pLeftUp, pRightUp, pRightDwon, 2, Num, dripDirection);
}
if (List.Count < 2)
{
return;
}
//DripLine = new List<DripLineDef>();
for (int i = 1; i < List.Count; i++)
{
//DripLineDef def = new DripLineDef();
PointF4 f4 = new PointF4();
f4.X = List[i - 1].X;
f4.Y = List[i - 1].Y;
f4.Z = List[i - 1].Z;
//def.Point.Add(f4);
PointF4 point = new PointF4();
point.X = List[i].X;
point.Y = List[i].Y;
point.Z = List[i].Z;
//def.Point.Add(point);
//DripLine.Add(def);
}
}
public SolderPosdata()
{
pos = new PointF4();
solderDef = new SolderDef();
rinse = new bool();
}
public SolderPosData()
{
Pos = new PointF4();
SolderData = new SolderDef();
Rinse = new bool();
}
