private async void homeButton_Click(object sender, EventArgs e)
{
SetManualControls(false);
robot.set_angle_move(0, 0, 0, 0, angularSpeed);
while (!robot.is_robot_goto_target())
{
robot.get_scara_param();
SetTrackbar(wristTrackbar, wristTextbox, (int)robot.rotation);
SetTrackbar(elbowTrackbar, elbowTextbox, (int)robot.angle2);
SetTrackbar(shoulderTrackBar, shoulderTextbox, (int)robot.angle1);
SetTrackbar(zAxisTrackbar, zAxisTextbox, (int)robot.z);
await Task.Delay(50);
}
//wristTextbox.Text = 0.ToString();
//elbowTextbox.Text = 0.ToString();
//shoulderTextbox.Text = 0.ToString();
//zAxisTextbox.Text = 0.ToString();
//wristTrackbar.Value = 0;
//elbowTrackbar.Value = 0;
//shoulderTrackBar.Value = 0;
//zAxisTrackbar.Value = 0;
SetManualControls(true);
}
public void RobotArmInit()
{
TcpserverEx.net_port_initial();
//TcpserverEx.card_number_connect(114);
if (robot1.is_connected())
{
int ret = robot1.initial(3, 310);//修改自己机器的型号，参数具体意义参考sdk说明文档
if (ret == 1)
{
robot1.unlock_position();//解锁
//DisplayMessage(robot1.get_card_num().ToString() + "初始化完成");
robot1.get_scara_param();
Debug.WriteLine(robot1.get_card_num().ToString() + "初始化完成");
//Debug.WriteLine(robot1.y);
}
else
{
Debug.WriteLine(robot1.get_card_num().ToString() + "初始化失败，返回值 = " + ret.ToString());
//DisplayMessage(robot1.get_card_num().ToString() + "初始化失败，返回值 = " + ret.ToString());
}
}
else
{
Debug.WriteLine(robot1.get_card_num().ToString() + "未连接");
//DisplayMessage(robot1.get_card_num().ToString() + "未连接");
}
}
public static void mach()
{
Console.WriteLine("Init");
TcpserverEx.net_port_initial();
ControlBeanEx robot = TcpserverEx.get_robot(59);
Stopwatch watch = Stopwatch.StartNew();
while (!robot.is_connected())
{
Console.Write(".");
Thread.Sleep(1);
}
Console.WriteLine();
Console.WriteLine($"Took {watch.ElapsedMilliseconds}ms to connect!");
//watch.Restart();
Console.WriteLine("Joint home 1: " + robot.joint_home(1));
Console.WriteLine("Joint home 2: " + robot.joint_home(2));
Console.WriteLine("Joint home 3: " + robot.joint_home(3));
Console.WriteLine("Joint home 4: " + robot.joint_home(4));
//Console.ReadKey();
//Console.WriteLine($"Time to Home: {watch.ElapsedMilliseconds}");
//Console.ReadKey();
//while (true)
//{
// if (watch.ElapsedMilliseconds > 15000) break;
// robot.get_scara_param();
// Console.WriteLine(
// $"target: {robot.is_robot_goto_target()}, " +
// $"move flag: {robot.move_flag}, " +
// $"Angle 1: {robot.angle1}, " +
// $"Angle 1 Judge: {robot.angle1_after_judge}, " +
// $"Angle 2: {robot.angle2}, " +
// $"Angle 2 Judge: {robot.angle2_after_judge}, " +
// $"Init Finished: {robot.initial_finish}");
// Thread.Sleep(100);
//}
Thread.Sleep(3000);
// robot.set_arm_length(200, 200); DO NOT SET ARM LENGTH WHEN JOINT_HOME IS RUNNING!!!
Console.WriteLine("Initialize: " + robot.initial(1, 310));
robot.get_scara_param();
Console.WriteLine(robot.initial_finish);
Console.WriteLine("Unlock Position: " + robot.unlock_position());
watch.Restart();
while (true)
{
if (watch.ElapsedMilliseconds > 15000)
{
break;
}
robot.get_scara_param();
Console.WriteLine(
//$"target: {robot.is_robot_goto_target()}, " +
$"move flag: {robot.move_flag}, " +
$"Angle 1: {robot.angle1}, " +
$"Angle 1 Judge: {robot.angle1_after_judge}, " +
$"Angle 2: {robot.angle2}, " +
$"Angle 2 Judge: {robot.angle2_after_judge}, " +
$"Angle 3: {robot.rotation}, " +
$"Init Finished: {robot.initial_finish}");
Thread.Sleep(100);
}
robot.set_catch_or_release_accuracy(0.5f);
//Console.WriteLine("At Home");
//Console.WriteLine("Going Home");
//while (robot.move_flag)
//{
// Console.Write(".");
// Thread.Sleep(1);
//}
//robot.set_arm_length(200, 200);
//robot.set_catch_or_release_accuracy(0.5f);
//Console.WriteLine("Unlock Position: " + robot.unlock_position());
//Console.WriteLine("xyz move: " + robot.xyz_move(1, -10, 50));
// Console.WriteLine("Cooperation State: " + robot.set_cooperation_fun_state(true));
//Console.WriteLine("Drag Teach: " + robot.set_drag_teach(true));
}