private void ComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (!isConnectted)
{
return;
}
ComboBox obj = (ComboBox)sender;
String tag = obj.Tag.ToString();
if (tag == "mode")
{
bool isJ = ((ComboBoxItem)obj.SelectedItem).Content.ToString() == "Axis";
isJoint = isJ ? (byte)1 : (byte)0;
if (isJ)
{
XI.Content = "Joint1+";
YI.Content = "Joint2+";
ZI.Content = "Joint3+";
RI.Content = "Joint4+";
XN.Content = "Joint1-";
YN.Content = "Joint2-";
ZN.Content = "Joint3-";
RN.Content = "Joint4-";
}
else
{
XI.Content = "X+";
YI.Content = "Y+";
ZI.Content = "Z+";
RI.Content = "R+";
XN.Content = "X-";
YN.Content = "Y-";
ZN.Content = "Z-";
RN.Content = "R-";
}
}
else if (tag == "headType")
{
string str = ((ComboBoxItem)obj.SelectedItem).Content.ToString();
if (str == "SuctionCup")
{
cbGrab.IsEnabled = false;
cbLaser.IsEnabled = false;
cbSuctionCup.IsEnabled = true;
EndTypeParams endType;
endType.xBias = 59.7f;
endType.yBias = 0;
endType.zBias = 0;
DobotDll.SetEndEffectorParams(ref endType);
}
else if (str == "Gripper")
{
cbGrab.IsEnabled = true;
cbLaser.IsEnabled = false;
cbSuctionCup.IsEnabled = false;
EndTypeParams endType;
endType.xBias = 59.7f;
endType.yBias = 0;
endType.zBias = 0;
DobotDll.SetEndEffectorParams(ref endType);
}
else if (str == "Laser")
{
cbGrab.IsEnabled = false;
cbLaser.IsEnabled = true;
cbSuctionCup.IsEnabled = false;
EndTypeParams endType;
endType.xBias = 70f;
endType.yBias = 0;
endType.zBias = 0;
DobotDll.SetEndEffectorParams(ref endType);
}
}
}
