private void button4_Click(object sender, EventArgs e)
{
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
button4.Enabled = false;
button5.Enabled = true;
}
private void initURRobot()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
//RTClient用来控制
aRTClient.startRTClient();
while (aRTClient.Status != RTClientStatus.Syncing)
{
Thread.Sleep(10);
}
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
private IEnumerator timer2_Tick()
{
while (true)
{
try
{
aRTDE.startSync(); //启动 RTDE server 同步
}
catch
{
throw;
}
if (aRTDE.isSynchronizing)
{
RTDEOutputObj outobj = aRTDE.getOutputObj(); //读取 RTDE output 数据
CurTCPPos = outobj.actual_TCP_pose;
//CurPX = outobj.actual_TCP_pose.X;
//CurPY = outobj.actual_TCP_pose.Y;
//CurPZ = outobj.actual_TCP_pose.Z;
//CurRX = outobj.actual_TCP_pose.Rx;
//CurRY = outobj.actual_TCP_pose.Ry;
//CurRZ = outobj.actual_TCP_pose.Rz;
CurJointPos = outobj.actual_q;
//CurJ1 = outobj.actual_q.X;//机座
//CurJ2 = outobj.actual_q.Y;//肩部
//CurJ3 = outobj.actual_q.Z;//肘部
//CurJ4 = outobj.actual_q.Rx;//手腕1
//CurJ5 = outobj.actual_q.Ry;//手腕2
//CurJ6 = outobj.actual_q.Rz;//手腕3
string tcppose = outobj.actual_TCP_pose.ToString();
RTDEMessage aMsg = new RTDEMessage("Content of message", "Message source",
RTDEMessage.INFO_MESSAGE); //创建 RTDEMessage 对象， Warning Level 为 Info
aRTDE.sendMessage(aMsg); //发送 RTDEMessage
RTDEInputObj inobj = new RTDEInputObj(); //创建 RTDE input 对象
// 将数字输出置为 0b00000011,RTDEInputObj 同步数据一定要是 RTDEConfig.xml 文件中已经配置好的 input
inobj.standard_digital_output = 3;
aRTDE.setInputObj(inobj); //发送 input
}
//TCP当前位置
if (CurTCPPos != null)
{
//ActTCPTB_X.Text = (CurTCPPos.X * 1000).ToString("0.00");
//ActTCPTB_Y.Text = (CurTCPPos.Y * 1000).ToString("0.00");
//ActTCPTB_Z.Text = (CurTCPPos.Z * 1000).ToString("0.00");
//ActTCPTB_RX.Text = (CurTCPPos.Rx).ToString("0.00");
//ActTCPTB_RY.Text = (CurTCPPos.Ry).ToString("0.00");
//ActTCPTB_RZ.Text = (CurTCPPos.Rz).ToString("0.00");
}
//关节当前位置
if (CurJointPos != null)
{
Pos[0].text = (CurJointPos.X * 180 / PI).ToString("0.00");
Pos[1].text = (CurJointPos.Y * 180 / PI).ToString("0.00");
Pos[2].text = (CurJointPos.Z * 180 / PI).ToString("0.00");
Pos[3].text = (CurJointPos.Rx * 180 / PI).ToString("0.00");
Pos[4].text = (CurJointPos.Ry * 180 / PI).ToString("0.00");
Pos[5].text = (CurJointPos.Rz * 180 / PI).ToString("0.00");
}
aRTDE.stopSync(); //关闭 RTDE server 同步，释放资源
yield return(new WaitForSeconds(1f));
}
}
private RTDE aRTDE; //RTDE instance, port: 30004
#endregion
#region initialize
private void initData()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
RobotInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
RobotOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "A1";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A2";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A3";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A4";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A5";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A6";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
