IEnumerator ChangeTool()
{
//换刀器旋转90度抓住所需刀具
selfRotateTrans.Clear();
selfRotateTrans.Add(twistGrip);
selfRotateTrans.Add(twistAxis);
startTime = 0;
rotate_speed = 270f;
endTime = 90 / rotate_speed;
centre_point = twistAxis.position;
rotate_direction = twistAxis.TransformDirection(Vector3.up);
cw = 1;
reviseInfo_Revolution.Clear();
for (int i = 0; i < selfRotateTrans.Count; i++)
{
toolRef.position = selfRotateTrans[i].position;
toolRef.eulerAngles = selfRotateTrans[i].eulerAngles;
toolRef.RotateAround(centre_point, -cw * rotate_direction, 90f);
reviseInfo_Revolution.Add(toolRef.position);
reviseInfo_Revolution.Add(toolRef.eulerAngles);
}
selfRotation_on = true;
yield return(StartCoroutine(Timer()));
for (int i = 0; i < selfRotateTrans.Count; i++)
{
selfRotateTrans[i].position = reviseInfo_Revolution[i * 2];
selfRotateTrans[i].eulerAngles = reviseInfo_Revolution[i * 2 + 1];
}
yield return(StartCoroutine(PauseTimer(0.3f)));
// pause_on = true;
//换刀器和刀具向下移动，准备换刀
selfRotateTrans.Clear();
if (cutter[20] != null)
{
// selfRotateTrans.Add(cutter[20]);
selfRotateTrans.Add(cutterApron[20]);
cutter[21] = cutter[20];
cutterApron[21] = cutterApron[20];
cutterIndex[21] = cutterIndex[20];
cutterName[21] = cutterName[20];
cutterLength[21] = cutterLength[20];
cutterDiamater[21] = cutterDiamater[20];
}
else
{
cutter[21] = null;
cutterApron[21] = null;
cutterIndex[21] = 0;
cutterName[21] = "null";
cutterLength[21] = 0;
cutterDiamater[21] = 0;
}
if (cutter[buttomApronNo - 1] != null)
{
// selfRotateTrans.Add(cutter[buttomApronNo - 1]);
selfRotateTrans.Add(cutterApron[buttomApronNo - 1]);
cutter[22] = cutter[buttomApronNo - 1];
cutterApron[22] = cutterApron[buttomApronNo - 1];
cutterName[22] = cutterName[buttomApronNo - 1];
cutterLength[22] = cutterLength[buttomApronNo - 1];
cutterDiamater[22] = cutterDiamater[buttomApronNo - 1];
}
else
{
cutter[22] = null;
cutterApron[22] = null;
cutterName[22] = "null";
cutterLength[22] = 0;
cutterDiamater[22] = 0;
}
cutterIndex[22] = cutterIndex[buttomApronNo - 1];
selfRotateTrans.Add(twistGrip);
selfRotateTrans.Add(twistAxis);
startTime = 0;
endTime = move_distance / move_speed;
cw = -1;
reviseInfo_Revolution.Clear();
for (int i = 0; i < selfRotateTrans.Count; i++)
{
toolRef.position = selfRotateTrans[i].position;
toolRef.eulerAngles = selfRotateTrans[i].eulerAngles;
toolRef.Translate(new Vector3(0, -move_distance, 0), Space.World);
reviseInfo_Revolution.Add(toolRef.position);
reviseInfo_Revolution.Add(toolRef.eulerAngles);
}
move_on = true;
yield return(StartCoroutine(Timer()));
for (int i = 0; i < selfRotateTrans.Count; i++)
{
selfRotateTrans[i].position = reviseInfo_Revolution[i * 2];
selfRotateTrans[i].eulerAngles = reviseInfo_Revolution[i * 2 + 1];
}
yield return(StartCoroutine(PauseTimer(0.3f)));
//旋转180度换刀
startTime = 0;
rotate_speed = 270f;
endTime = 180 / rotate_speed;
centre_point = twistAxis.position;
rotate_direction = twistAxis.TransformDirection(Vector3.up);
cw = 1;
reviseInfo_Revolution.Clear();
for (int i = 0; i < selfRotateTrans.Count; i++)
{
toolRef.position = selfRotateTrans[i].position;
toolRef.eulerAngles = selfRotateTrans[i].eulerAngles;
toolRef.RotateAround(centre_point, -cw * rotate_direction, 180f);
reviseInfo_Revolution.Add(toolRef.position);
reviseInfo_Revolution.Add(toolRef.eulerAngles);
}
selfRotation_on = true;
yield return(StartCoroutine(Timer()));
for (int i = 0; i < selfRotateTrans.Count; i++)
{
selfRotateTrans[i].position = reviseInfo_Revolution[i * 2];
selfRotateTrans[i].eulerAngles = reviseInfo_Revolution[i * 2 + 1];
}
yield return(StartCoroutine(PauseTimer(0.3f)));
//安装刀具入刀位
startTime = 0;
endTime = move_distance / move_speed;
cw = 1;
reviseInfo_Revolution.Clear();
for (int i = 0; i < selfRotateTrans.Count; i++)
{
toolRef.position = selfRotateTrans[i].position;
toolRef.eulerAngles = selfRotateTrans[i].eulerAngles;
toolRef.Translate(new Vector3(0, move_distance, 0), Space.World);
reviseInfo_Revolution.Add(toolRef.position);
reviseInfo_Revolution.Add(toolRef.eulerAngles);
}
move_on = true;
yield return(StartCoroutine(Timer()));
for (int i = 0; i < selfRotateTrans.Count; i++)
{
selfRotateTrans[i].position = reviseInfo_Revolution[i * 2];
selfRotateTrans[i].eulerAngles = reviseInfo_Revolution[i * 2 + 1];
}
currentToolNo = buttomToolNo;
buttomToolNo = cutterIndex[21];
cutter[buttomApronNo - 1] = cutter[21];
cutterApron[buttomApronNo - 1] = cutterApron[21];
cutterIndex[buttomApronNo - 1] = cutterIndex[21];
cutterName[buttomApronNo - 1] = cutterName[21];
cutterLength[buttomApronNo - 1] = cutterLength[21];
cutterDiamater[buttomApronNo - 1] = cutterDiamater[21];
cutter[20] = cutter[22];
cutterApron[20] = cutterApron[22];
cutterIndex[20] = cutterIndex[22];
cutterName[20] = cutterName[22];
cutterLength[20] = cutterLength[22];
cutterDiamater[20] = cutterDiamater[22];
Main.toolLength = cutterLength[20];
Main.toolDiameter = cutterDiamater[20];
Main.ToolNo = currentToolNo;
LightControl_Script.SetNumber(Main.ToolNo);
//刀具显示控制
if (DisplayMode_Script.AllPartsHide())
{
if (cutter[buttomApronNo - 1] != null)
{
cutter[buttomApronNo - 1].renderer.enabled = false;
cutterApron[buttomApronNo - 1].renderer.enabled = false;
}
if (cutter[20] != null)
{
cutter[20].renderer.enabled = true;
cutterApron[20].renderer.enabled = true;
}
}
cutterIndex[21] = -1;
cutterIndex[22] = -1;
cutterLength[21] = 0;
cutterLength[22] = 0;
cutterDiamater[21] = 0;
cutterDiamater[22] = 0;
if (cutter[20] != null)
{
// cutter[20].parent = MainAxis;
cutterApron[20].parent = MainAxis;
cutterApron[20].localPosition = new Vector3(0, -0.1908453f, 0);
cutterApron[20].localEulerAngles = new Vector3(270f, 109.2f, 0);
// cutter[20].localPosition = new Vector3(0, cutter[20].localPosition.y, 0);
}
if (cutter[buttomApronNo - 1] != null)
{
// cutter[buttomApronNo - 1].parent = Tool_Changer;
cutterApron[buttomApronNo - 1].parent = apron[buttomApronNo - 1];
cutterApron[buttomApronNo - 1].localPosition = new Vector3(0, 0, -0.04730511f);
cutterApron[buttomApronNo - 1].localEulerAngles = new Vector3(0, 0, 0);
cutterApron[buttomApronNo - 1].parent = Tool_Changer;
}
yield return(StartCoroutine(PauseTimer(0.3f)));
//换刀器旋转90度回到原位
selfRotateTrans.Clear();
selfRotateTrans.Add(twistGrip);
selfRotateTrans.Add(twistAxis);
startTime = 0;
rotate_speed = 270f;
endTime = 90 / rotate_speed;
centre_point = twistAxis.position;
rotate_direction = twistAxis.TransformDirection(Vector3.up);
cw = -1;
reviseInfo_Revolution.Clear();
for (int i = 0; i < selfRotateTrans.Count; i++)
{
toolRef.position = selfRotateTrans[i].position;
toolRef.eulerAngles = selfRotateTrans[i].eulerAngles;
toolRef.RotateAround(centre_point, -cw * rotate_direction, 90f);
reviseInfo_Revolution.Add(toolRef.position);
reviseInfo_Revolution.Add(toolRef.eulerAngles);
}
selfRotation_on = true;
yield return(StartCoroutine(Timer()));
for (int i = 0; i < selfRotateTrans.Count; i++)
{
selfRotateTrans[i].position = reviseInfo_Revolution[i * 2];
selfRotateTrans[i].eulerAngles = reviseInfo_Revolution[i * 2 + 1];
}
yield return(StartCoroutine(PauseTimer(0.3f)));
}