static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
double cosTeta = 0.649352561565284; //teta=49.50...
double sinTeta = 0.760487508634168; // sinTeta = System.Math.Cos(45);
while(true)
{
double rX = Robot.GetCurrentPosition().X * cosTeta - Robot.GetCurrentPosition().Y * sinTeta;
double rY = Robot.GetCurrentPosition().X * sinTeta + Robot.GetCurrentPosition().Y * cosTeta;
//while((30 <= rX <= -30)&&(30 <= rY <= -20)&&(Robot.GetCurrentPosition().Z < 5))
//if ((-300 >= rX) && (rX >= 300) && (-200 >= rY) && (rY >= 300) && (Robot.GetCurrentPosition().Z <= 50))
if ((-200 <= rX) && (rX <= 800) && (130 <= rY) && (rY <= 790) && (Robot.GetCurrentPosition().Z >= 50))
{
//move robot
Console.WriteLine("Robot reste dans la zone de securité YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX +"; Y : " + rY);
}
else
{
//robot s'arrete
Console.WriteLine("!!! Robot a sorti de la zone de securité !!!!!!!!!!!!!!!!!!!!!!!");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX + "; Y : " + rY);
}
System.Threading.Thread.Sleep(2000);
}
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
double cosTeta = 0.649352561565284; //teta=49.50...
double sinTeta = 0.760487508634168; // sinTeta = System.Math.Cos(45);
while (true)
{
double rX = Robot.GetCurrentPosition().X *cosTeta - Robot.GetCurrentPosition().Y *sinTeta;
double rY = Robot.GetCurrentPosition().X *sinTeta + Robot.GetCurrentPosition().Y *cosTeta;
//while((30 <= rX <= -30)&&(30 <= rY <= -20)&&(Robot.GetCurrentPosition().Z < 5))
//if ((-300 >= rX) && (rX >= 300) && (-200 >= rY) && (rY >= 300) && (Robot.GetCurrentPosition().Z <= 50))
if ((-200 <= rX) && (rX <= 800) && (130 <= rY) && (rY <= 790) && (Robot.GetCurrentPosition().Z >= 50))
{
//move robot
Console.WriteLine("Robot reste dans la zone de securité YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX + "; Y : " + rY);
}
else
{
//robot s'arrete
Console.WriteLine("!!! Robot a sorti de la zone de securité !!!!!!!!!!!!!!!!!!!!!!!");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX + "; Y : " + rY);
}
System.Threading.Thread.Sleep(2000);
}
}
public ActionResult SwitchRobotConnection(bool connect, string ip)
{
bool success = false;
if (connect)
{
//Connexion du robot
Logs.AddLog("info", string.Format("Starting robot connection on {0} ...", ip));
MvcApplication.RobotInfos.IsConnected = true;
try
{
MyRobot.Connect(ip);
MvcApplication.RobotInfos.IsConnected = true;
MyRobot.GetCurrentPosition();
success = true;
Logs.AddLog("info", "Robot connected");
}
catch (Exception e)
{
Logs.AddLog("Error", string.Format("Error in robot connection: {0} ...", e.Data));
MvcApplication.RobotInfos.IsConnected = false;
}
}
else
{
//Deconnexion du robot
Logs.AddLog("info", "Robot disconnection not implemented");
//MvcApplication.RobotInfos.IsConnected = false;
success = true;
}
return(Json(new { Success = success }, JsonRequestBehavior.AllowGet));
}
// Constructeur permettant de ce connecter au robot
public Class_Kuka_Manager()
{
if (debug)
{
robot = new RobotController();
try
{
robot.Connect("192.168.1.1");
Console.WriteLine("coonected");
}
catch (IOException e)
{
Console.WriteLine(e);
}
}
}
// Constructeur permettant de ce connecter au robot
public Class_Kuka_Manager()
{
if (debug)
{
robot = new RobotController();
try
{
robot.Connect("192.168.1.1");
Console.WriteLine("coonected");
}
catch (IOException e)
{
Console.WriteLine(e);
}
}
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
List <CartesianPosition> Trajectoire = new List <CartesianPosition>();
for (int i = 1; i <= 100; i++)
{
Trajectoire.Add(new CartesianPosition
{
X = i + Robot.GetCurrentPosition().X,
Y = i + Robot.GetCurrentPosition().Y,
Z = i + Robot.GetCurrentPosition().Z,
A = 0 + Robot.GetCurrentPosition().A,
B = 0 + Robot.GetCurrentPosition().B,
C = 0 + Robot.GetCurrentPosition().C
});
}
//Robot.PlayTrajectory(Trajectoire);
Robot.StartRelativeMovement();
CartesianPosition Test = new CartesianPosition
{
X = -1,
Y = 0,
Z = 0,
A = 0,
B = 0,
C = 0
};
Robot.SetRelativeMovement(Test);
System.Threading.Thread.Sleep(2000);
Robot.StopRelativeMovement();
Device Mouse = new Device();
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
List<CartesianPosition> Trajectoire = new List<CartesianPosition>();
for (int i = 1; i <= 100; i++)
{
Trajectoire.Add(new CartesianPosition
{
X = i + Robot.GetCurrentPosition().X,
Y = i + Robot.GetCurrentPosition().Y,
Z = i + Robot.GetCurrentPosition().Z,
A = 0 + Robot.GetCurrentPosition().A,
B = 0 + Robot.GetCurrentPosition().B,
C = 0 + Robot.GetCurrentPosition().C
});
}
//Robot.PlayTrajectory(Trajectoire);
Robot.StartRelativeMovement();
CartesianPosition Test = new CartesianPosition
{
X = -1,
Y = 0,
Z = 0,
A = 0,
B = 0,
C = 0
};
Robot.SetRelativeMovement(Test);
System.Threading.Thread.Sleep(2000);
Robot.StopRelativeMovement();
Device Mouse = new Device();
}
private static void Main()
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
string valeurX = "0", valeurY = "0", valeurZ = "0", valeurA = "0", valeurB = "0", valeurC = "0", valeurPince = "0", valeurDetection = "0";
XmlDocument doc = new XmlDocument();
XmlNode docNode = doc.CreateXmlDeclaration("1.0", "UTF-8", null);
doc.AppendChild(docNode);
//XmlNode productsNode = doc.CreateElement("products");
XmlNode RobotNode = doc.CreateElement("Coordonees_Robot");
doc.AppendChild(RobotNode);
for (int i = 1; i < 666; i++)
{
Console.WriteLine(i);
string id = i.ToString(); //iString
Console.WriteLine(id);
Console.WriteLine("press 0 pour ajouter point; press 9 pour finaliser");
int j = i;
while (j==i)
{
try
{
int press = int.Parse(Console.ReadLine());
switch (press)
{
case 0:
{
/* //Doner valeurs a X Y Z; apres on metra get.currentPosition...
System.Console.WriteLine("Ecrivez la valeur de X");
valeurX = (Console.ReadLine());
System.Console.WriteLine("Ecrivez la valeur de Y");
valeurY = (Console.ReadLine());
System.Console.WriteLine("Ecrivez la valeur de Z");
valeurZ = (Console.ReadLine());
*/
//
valeurX = Robot.GetCurrentPosition().X.ToString();
valeurY = Robot.GetCurrentPosition().Y.ToString();
valeurZ = Robot.GetCurrentPosition().Z.ToString();
valeurA = Robot.GetCurrentPosition().A.ToString();
valeurB = Robot.GetCurrentPosition().B.ToString();
valeurC = Robot.GetCurrentPosition().C.ToString();
valeurDetection = Robot.ReadSensor().ToString();
valeurPince = Robot.IsGripperOpen().ToString();
//*/
// Create and add another product node---------------------------Creation nouveau position
XmlNode PositonNode = doc.CreateElement("Position");
XmlAttribute postitionAttribute = doc.CreateAttribute("id");
postitionAttribute.Value = id;
PositonNode.Attributes.Append(postitionAttribute);
RobotNode.AppendChild(PositonNode);
XmlNode xNode = doc.CreateElement("X");
xNode.AppendChild(doc.CreateTextNode(valeurX));
PositonNode.AppendChild(xNode);
XmlNode yNode = doc.CreateElement("Y");
yNode.AppendChild(doc.CreateTextNode(valeurY));
PositonNode.AppendChild(yNode);
XmlNode zNode = doc.CreateElement("Z");
zNode.AppendChild(doc.CreateTextNode(valeurZ));
PositonNode.AppendChild(zNode);
XmlNode aNode = doc.CreateElement("A");
aNode.AppendChild(doc.CreateTextNode(valeurA));
PositonNode.AppendChild(aNode);
XmlNode bNode = doc.CreateElement("B");
bNode.AppendChild(doc.CreateTextNode(valeurB));
PositonNode.AppendChild(bNode);
XmlNode cNode = doc.CreateElement("C");
cNode.AppendChild(doc.CreateTextNode(valeurC));
PositonNode.AppendChild(cNode);
//----------------------------- Pince et Capteur ------------------------------------------
XmlNode gripperNode = doc.CreateElement("Pince");
gripperNode.AppendChild(doc.CreateTextNode(valeurPince));
PositonNode.AppendChild(gripperNode);
XmlNode detectionNode = doc.CreateElement("Detection");
detectionNode.AppendChild(doc.CreateTextNode(valeurDetection));
PositonNode.AppendChild(detectionNode);
j = j+1;
break;
}
case 9:
{
i = 666;
break;
}
default:
{
System.Console.WriteLine("Pres 0 pour enregitrer un nouveau point");
break;
}
}
}
catch
{
}
}
}
doc.Save(Console.Out);
doc.Save(@"C:\Users\Jordi\Desktop\novaLynx\jordi\XML\xmlTestJordi4\kukaAgilus.xml");
System.Console.ReadLine();
}
static void Main(string[] args)
{
int NUM_AUTD_X = 3;
int NUM_AUTD_Y = 3;
float W = 192f;
float H = 151.4f;
float xc = W * NUM_AUTD_X / 2f;
float yc = H * NUM_AUTD_Y / 2f;
float Z = 200;
var compress = true;
var cond = new Conditions()
{
SampleRateHz = 10_000_000,
SampleLen = 10_000,
Temp = 22.8f,
Humidity = 13f,
Amplifer = 10,
X = 0,
Y = 0,
Z = Z
};
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, Z);
using var pico = new PicoCnt();
pico.SetChannel(0, 50, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
using var autd = new AUTD3Cnt();
for (int y = 0; y < NUM_AUTD_Y; y++)
{
for (int x = 0; x < NUM_AUTD_X; x++)
{
autd.AddDevice(x * W, y * H, 0);
}
}
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
Scan(autd, 10, pico, robo, cond, NUM_AUTD_X, NUM_AUTD_Y, Z, compress);
Console.WriteLine("Finish.");
autd.Stop();
robo.Finish();
}
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
// Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
/*
List<CartesianPosition> Trajectoire = new List<CartesianPosition>();
for (int i = 1; i <= 100; i++)
{
Trajectoire.Add(new CartesianPosition
{
X = i + Robot.GetCurrentPosition().X,
Y = i + Robot.GetCurrentPosition().Y,
Z = i + Robot.GetCurrentPosition().Z,
A = 0 + Robot.GetCurrentPosition().A,
B = 0 + Robot.GetCurrentPosition().B,
C = 0 + Robot.GetCurrentPosition().C
});
}
//Robot.PlayTrajectory(Trajectoire);
Robot.StartRelativeMovement();
CartesianPosition Test = new CartesianPosition
{
X = -1,
Y = 0,
Z = 0,
A = 0,
B = 0,
C = 0
};
Robot.SetRelativeMovement(Test);
System.Threading.Thread.Sleep(2000);
Robot.StopRelativeMovement();
*/
Device Mouse = new Device();
//-------------------------------------------------
bool loop = true;
while (loop)
{
Console.WriteLine("Type number and press Return");
Console.WriteLine("press 2 pour ouvrir la pince");
Console.WriteLine("press 3 pour fermer la pince");
try
{
int i = int.Parse(Console.ReadLine());
switch (i)
{
case 0:
{
for (int ii = 1; ii <= 20; ii++)
{
bool pinceOuverte = Robot.IsGripperOpen();
//bool pinceOuverte = true;
Console.WriteLine("Pince ouverte : ");
Console.WriteLine(pinceOuverte);
}
break;
}
case 1:
{
for (int ii = 1; ii <= 20; ii++)
{
var valeurCapteur = Robot.ReadSensor();
//int valeurCapteur = 12345;
Console.WriteLine("Valeur du capteur : ");
Console.WriteLine(valeurCapteur);
}
break;
}
case 2:
{
Console.WriteLine("Ouvrir la pince");
Robot.OpenGripper();
break;
}
case 3:
{
Console.WriteLine("Fermer la pince");
Robot.CloseGripper();
break;
}
default:
{
System.Console.WriteLine("Other number");
break;
}
}
}
catch
{
}
System.Threading.Thread.Sleep(50);
}
//-------------------------------------------------
}
private static void Main()
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
string valeurX = "0", valeurY = "0", valeurZ = "0", valeurA = "0", valeurB = "0", valeurC = "0", valeurPince = "0", valeurDetection = "0";
XmlDocument doc = new XmlDocument();
XmlNode docNode = doc.CreateXmlDeclaration("1.0", "UTF-8", null);
doc.AppendChild(docNode);
//XmlNode productsNode = doc.CreateElement("products");
XmlNode RobotNode = doc.CreateElement("Coordonees_Robot");
doc.AppendChild(RobotNode);
for (int i = 1; i < 666; i++)
{
Console.WriteLine(i);
string id = i.ToString(); //iString
Console.WriteLine(id);
Console.WriteLine("press 0 pour ajouter point; press 9 pour finaliser");
int j = i;
while (j == i)
{
try
{
int press = int.Parse(Console.ReadLine());
switch (press)
{
case 0:
{
/* //Doner valeurs a X Y Z; apres on metra get.currentPosition...
* System.Console.WriteLine("Ecrivez la valeur de X");
* valeurX = (Console.ReadLine());
* System.Console.WriteLine("Ecrivez la valeur de Y");
* valeurY = (Console.ReadLine());
* System.Console.WriteLine("Ecrivez la valeur de Z");
* valeurZ = (Console.ReadLine());
*/
//
valeurX = Robot.GetCurrentPosition().X.ToString();
valeurY = Robot.GetCurrentPosition().Y.ToString();
valeurZ = Robot.GetCurrentPosition().Z.ToString();
valeurA = Robot.GetCurrentPosition().A.ToString();
valeurB = Robot.GetCurrentPosition().B.ToString();
valeurC = Robot.GetCurrentPosition().C.ToString();
valeurDetection = Robot.ReadSensor().ToString();
valeurPince = Robot.IsGripperOpen().ToString();
//*/
// Create and add another product node---------------------------Creation nouveau position
XmlNode PositonNode = doc.CreateElement("Position");
XmlAttribute postitionAttribute = doc.CreateAttribute("id");
postitionAttribute.Value = id;
PositonNode.Attributes.Append(postitionAttribute);
RobotNode.AppendChild(PositonNode);
XmlNode xNode = doc.CreateElement("X");
xNode.AppendChild(doc.CreateTextNode(valeurX));
PositonNode.AppendChild(xNode);
XmlNode yNode = doc.CreateElement("Y");
yNode.AppendChild(doc.CreateTextNode(valeurY));
PositonNode.AppendChild(yNode);
XmlNode zNode = doc.CreateElement("Z");
zNode.AppendChild(doc.CreateTextNode(valeurZ));
PositonNode.AppendChild(zNode);
XmlNode aNode = doc.CreateElement("A");
aNode.AppendChild(doc.CreateTextNode(valeurA));
PositonNode.AppendChild(aNode);
XmlNode bNode = doc.CreateElement("B");
bNode.AppendChild(doc.CreateTextNode(valeurB));
PositonNode.AppendChild(bNode);
XmlNode cNode = doc.CreateElement("C");
cNode.AppendChild(doc.CreateTextNode(valeurC));
PositonNode.AppendChild(cNode);
//----------------------------- Pince et Capteur ------------------------------------------
XmlNode gripperNode = doc.CreateElement("Pince");
gripperNode.AppendChild(doc.CreateTextNode(valeurPince));
PositonNode.AppendChild(gripperNode);
XmlNode detectionNode = doc.CreateElement("Detection");
detectionNode.AppendChild(doc.CreateTextNode(valeurDetection));
PositonNode.AppendChild(detectionNode);
j = j + 1;
break;
}
case 9:
{
i = 666;
break;
}
default:
{
System.Console.WriteLine("Pres 0 pour enregitrer un nouveau point");
break;
}
}
}
catch
{
}
}
}
doc.Save(Console.Out);
doc.Save(@"C:\Users\Jordi\Desktop\novaLynx\jordi\XML\xmlTestJordi4\kukaAgilus.xml");
System.Console.ReadLine();
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
// Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
/*
* List<CartesianPosition> Trajectoire = new List<CartesianPosition>();
* for (int i = 1; i <= 100; i++)
* {
* Trajectoire.Add(new CartesianPosition
* {
* X = i + Robot.GetCurrentPosition().X,
* Y = i + Robot.GetCurrentPosition().Y,
* Z = i + Robot.GetCurrentPosition().Z,
* A = 0 + Robot.GetCurrentPosition().A,
* B = 0 + Robot.GetCurrentPosition().B,
* C = 0 + Robot.GetCurrentPosition().C
* });
* }
* //Robot.PlayTrajectory(Trajectoire);
* Robot.StartRelativeMovement();
* CartesianPosition Test = new CartesianPosition
* {
* X = -1,
* Y = 0,
* Z = 0,
* A = 0,
* B = 0,
* C = 0
* };
* Robot.SetRelativeMovement(Test);
* System.Threading.Thread.Sleep(2000);
* Robot.StopRelativeMovement();
*/
Device Mouse = new Device();
//-------------------------------------------------
bool loop = true;
while (loop)
{
Console.WriteLine("Type number and press Return");
Console.WriteLine("press 2 pour ouvrir la pince");
Console.WriteLine("press 3 pour fermer la pince");
try
{
int i = int.Parse(Console.ReadLine());
switch (i)
{
case 0:
{
for (int ii = 1; ii <= 20; ii++)
{
bool pinceOuverte = Robot.IsGripperOpen();
//bool pinceOuverte = true;
Console.WriteLine("Pince ouverte : ");
Console.WriteLine(pinceOuverte);
}
break;
}
case 1:
{
for (int ii = 1; ii <= 20; ii++)
{
var valeurCapteur = Robot.ReadSensor();
//int valeurCapteur = 12345;
Console.WriteLine("Valeur du capteur : ");
Console.WriteLine(valeurCapteur);
}
break;
}
case 2:
{
Console.WriteLine("Ouvrir la pince");
Robot.OpenGripper();
break;
}
case 3:
{
Console.WriteLine("Fermer la pince");
Robot.CloseGripper();
break;
}
default:
{
System.Console.WriteLine("Other number");
break;
}
}
}
catch
{
}
System.Threading.Thread.Sleep(50);
}
//-------------------------------------------------
}
static void Main(string[] args)
{
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, 200);
using var pico = new PicoCnt();
using var autd = new AUTD3Cnt();
autd.AddDevice(0, 0, 0);
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
var compress = false;
var cond = new Conditions()
{
SampleRateHz = 2_000_000,
SampleLen = 2_000,
Temp = 23.0f,
Humidity = 19f,
Amplifer = 10,
X = 0,
Y = 0,
Z = 200
};
pico.SetChannel(0, 500, 1, null);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "amp", false, (autd, i) => autd.TransTest(0, (byte)i, 0), compress);
cond.SampleRateHz = 10_000_000;
cond.SampleLen = 20000;
pico.SetChannel(0, 50000, 10, null);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "input", false, (autd, i) => autd.TransTest(0, (byte)i, 0), compress);
pico.SetChannel(0, 500, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone and Ch. B to 40kHz reference signal. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "phase", true, (autd, i) => autd.TransTest(0, 0xFF, (byte)i), compress);
Console.WriteLine("Finish.");
robo.Finish();
}
}
static void Main(string[] args)
{
Console.WriteLine("Start program...");
Mouse MyMouse = new Mouse();
RobotController MyRobot = new RobotController();
// Calibre la souris, valider la calibration avec la touche 4
MyMouse.Calibrate();
// Connexion au robot
MyRobot.Connect("192.168.1.1");
// Ouvre ou ferme la pince
//if (MyRobot.IsGripperOpen()) MyRobot.CloseGripper();
//else MyRobot.OpenGripper();
// Envoi la commande au robot
MyRobot.StartRelativeMovement();
// Créer un objet thread de l'objet Mouse, fonction Loop
Thread MouseThread = new Thread(MyMouse.Loop);
// Demarre le thread.
MouseThread.Start();
Console.WriteLine("main thread: Starting mouse thread...");
// Attend que le thread soit lancé et activé
while (!MouseThread.IsAlive)
{
;
}
Console.WriteLine("main thread: Mouse alive");
// Boucle tant qu'on utilise la souris
bool endMouse = true;
while (endMouse)
{
// Met le thread principale (ici) en attente d'une millisecond pour autoriser le thread secondaire à faire quelque chose
Thread.Sleep(1);
// Convertion des donnees de la souris pour le robot
CartesianPosition CartPositionMouse = new CartesianPosition();
CartPositionMouse.X = -MyMouse.MoveByVector.Z;
CartPositionMouse.Y = -MyMouse.MoveByVector.X;
CartPositionMouse.Z = MyMouse.MoveByVector.Y;
CartPositionMouse.A = -MyMouse.RotateByVector.Z;
CartPositionMouse.B = -MyMouse.RotateByVector.X;
CartPositionMouse.C = MyMouse.RotateByVector.Y;
Console.WriteLine("cmd robot: X : {0} | Y : {1} | Z : {2} | A : {3} | B : {4} | C : {5}", CartPositionMouse.X, CartPositionMouse.Y, CartPositionMouse.Z, CartPositionMouse.A, CartPositionMouse.B, CartPositionMouse.C);
// Envoi les commandes de deplacement au robot
MyRobot.SetRelativeMovement(CartPositionMouse);
}
// Demande l'arret du thread de la souris
MyMouse.RequestStop();
// Bloque le thread principale tant que le thread Mouse n'est pas terminé
MouseThread.Join();
// Arret le mouvement
MyRobot.StopRelativeMovement();
Console.WriteLine("main thread: mouse thread has terminated.");
Console.WriteLine("End program... Press a key to quit...");
Console.ReadKey();
}
