private void btnRecordSnapPos_Click(object sender, EventArgs e)
{
if (ifConnected)
{
CurrentPosInt = GetPose();
CurrentPosStr = GetPoseString(CurrentPosInt);
//写入控件，也写入配置文件
txtCurrentSnapPos.Text = CurrentPosStr;
ConfigController.INIWrite("UR运动参数", "BaseSnapPos", CurrentPosStr, DefaultINIPath);
}
else
{
MessageBox.Show("请确认目标UR已连接");
}
}
//保存其实就是改写这个INI文件
private void btnSave_Click(object sender, EventArgs e)
{
ConfigController.INIWrite("UR控制参数", "RemoteIP", Remote_IP.Text, DefaultINIFilePath);
ConfigController.INIWrite("UR控制参数", "RemoteControlPort", Control_Port.Text, DefaultINIFilePath);
ConfigController.INIWrite("UR运动参数", "BasicSpeed", Basic_Speed.Text, DefaultINIFilePath);
ConfigController.INIWrite("UR运动参数", "BasicAcceleration", Basic_Acceleration.Text, DefaultINIFilePath);
ConfigController.INIWrite("UR运动参数", "BasicRefreshRate", Data_RefreshRate.Text, DefaultINIFilePath);
if (AutoConnect.Checked == true)
{
ConfigController.INIWrite("UR控制参数", "IfAutoConnect", "YES", DefaultINIFilePath);
}
else
{
ConfigController.INIWrite("UR控制参数", "IfAutoConnect", "NO", DefaultINIFilePath);
}
this.Close();
}
//把Pose1记录并作为相对参考原点
private void btnPos1_Relative_Click(object sender, EventArgs e)
{
if (ifConnected)
{
PosInt1 = GetPose();
txtPose1.Text = GetPoseString(PosInt1);
HomeVector = txtPose1.Text;
HomeX = PosInt1[0];
HomeY = PosInt1[1];
HomeZ = PosInt1[2];
HomeU = PosInt1[3];
HomeV = PosInt1[4];
HomeW = PosInt1[5];
ConfigController.INIWrite("UR运动参数", "BasePos1", txtPose1.Text, DefaultINIPath);
}
else
{
MessageBox.Show("请确认目标UR已连接");
}
}