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();
}
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)
{
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);
}
//-------------------------------------------------
}
