public bool Is_Valid_Target(CartesianPosition Position)
{
var Current_Position = robot.GetCurrentPosition();
CartesianPosition New_Position = new CartesianPosition();
if (Position.X + Current_Position.X >= MAX_X)
{
return(false);
}
else if (Position.X + Current_Position.X <= MIN_X)
{
return(false);
}
else if (Position.Y + Current_Position.Y >= MAX_Y)
{
return(false);
}
else if (Position.Y + Current_Position.Y <= MIN_Y)
{
return(false);
}
else if (Position.Z + Current_Position.Z >= MAX_Z)
{
return(false);
}
else if (Position.Z + Current_Position.Z <= MIN_Z)
{
return(false);
}
else
{
return(true);
}
}
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));
}
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);
}
}
/// <summary>
/// Construit une instance de RobotPosition à partir de la position actuelle du robot
/// </summary>
/// <param name="robot"></param>
public RobotPosition(RobotController robot)
{
try
{
robot.StopRelativeMovement();
Position = robot.GetCurrentPosition();
robot.StartRelativeMovement();
}
catch (Exception ex)
{
Position = new CartesianPosition();
}
}
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();
}
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);
}
}
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();
}
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();
}
