void ShowResults_InMoveP() { //先清空原有的文本 TextBoxPointResult.Text = ""; TextBoxPointResult.AppendText("def movep_test(): \r\n"); check_Parameters(); for (int i = 0; i < Global_Tick; i++) { string Str = "movep("; //如果勾选了与Base合成,则用Pose_add合成上去 if (Add_What == 1) { Str += "pose_add(AddVector, "; } if (Add_What == 2) { Str += "pose_trans(AddVector, "; } Str += Total_PointRecordString[i]; if (Add_What == 1 || Add_What == 2) { Str += ")"; } if (Include_Accleration) { Str += ",a = " + txtAccleration.Text.ToString(); } if (Include_Speed) { Str += ",v = " + txtSpeed.Text.ToString(); } if (Include_Radius) { Str += ",r = " + txtRadius.Text.ToString(); } //如果三个都不包含,则 Str += ") \r\n"; TextBoxPointResult.AppendText(Str); } TextBoxPointResult.AppendText("end \r\n"); TextBoxPointResult.AppendText("movep_test() \r\n"); }
//貌似用MoveJ记录六个关节值还不能,因为关节值无法合成新的向量 void ShowResults_InMoveJ() { //先清空原有的文本 TextBoxPointResult.Text = ""; TextBoxPointResult.AppendText("def movej_test(): \r\n"); check_Parameters(); #region 以下是获取六个关节数值的方式生成movej的脚本 /* * for (int i = 0; i < Global_Tick; i++) * { * string Str = ""; * * Str += "movej(" + Total_AngleRecordString[i]; * * if (Include_Accleration) * { * Str += ", a = " + txtAccleration.Text.ToString(); * } * if (Include_Speed) * { * Str += ", v = " + txtSpeed.Text.ToString(); * } * if (Include_Radius) * { * Str += ", r = " + txtRadius.Text.ToString(); * } * * //如果三个都不包含,则 * Str += ") \r\n"; * * //TextBoxPointResult.AppendText("movel(" + Total_PointRecordString[i] + ",a = " + txtAccleration.Text.ToString() + ",v = " + txtSpeed.Text.ToString() + ",r = " + txtRadius.Text.ToString() + ") \r\n"); * TextBoxPointResult.AppendText(Str); * } */ #endregion #region 以下是切换成点位的方式生成movej的脚本 for (int i = 0; i < Global_Tick; i++) { string Str = "movej("; //如果勾选了与Base合成,则用Pose_add合成上去 if (Add_What == 1) { Str += "pose_add(AddVector, "; } if (Add_What == 2) { Str += "pose_trans(AddVector, "; } Str += Total_PointRecordString[i]; if (Add_What == 1 || Add_What == 2) { Str += ")"; } if (Include_Accleration) { Str += ",a = " + txtAccleration.Text.ToString(); } if (Include_Speed) { Str += ",v = " + txtSpeed.Text.ToString(); } if (Include_Radius) { Str += ",r = " + txtRadius.Text.ToString(); } //如果三个都不包含,则 Str += ") \r\n"; TextBoxPointResult.AppendText(Str); } #endregion TextBoxPointResult.AppendText("end \r\n"); TextBoxPointResult.AppendText("movej_test() \r\n"); }