private void buttonRotateDec_Click(object sender, EventArgs e)
{
var btn = (Button)sender;
if (isXyzMode)
{
if (btn.Text.Contains("X"))
{
DensoControl.Only().Rotate1(1, -int.Parse(textBoxXRotateStep.Text));
}
if (btn.Text.Contains("Y"))
{
DensoControl.Only().Rotate1(2, -int.Parse(textBoxYRotateStep.Text));
}
if (btn.Text.Contains("Z"))
{
DensoControl.Only().Rotate1(3, -int.Parse(textBoxZRotateStep.Text));
}
}
else
{
if (btn.Text.Contains("4"))
{
DensoControl.Only().MoveObjectAng(1, 4, -int.Parse(textBoxXRotateStep.Text));
}
if (btn.Text.Contains("5"))
{
DensoControl.Only().MoveObjectAng(1, 5, -int.Parse(textBoxYRotateStep.Text));
}
if (btn.Text.Contains("6"))
{
DensoControl.Only().MoveObjectAng(1, 6, -int.Parse(textBoxZRotateStep.Text));
}
}
}
private void buttonMoveZInc_Click(object sender, EventArgs e)
{
int step;
if (int.TryParse(textBoxZStep.Text, out step))
{
if (isXyzMode)
{
if (step > 0 && step < 500)
{
DensoControl.Only().MoveObjectPos(1, 3, step);
return;
}
}
else
{
if (step > 0 && step < 30)
{
DensoControl.Only().MoveObjectAng(1, 3, step);
return;
}
}
}
MessageBox.Show("Step not in Range!");
}
private void buttonClearError_Click(object sender, EventArgs e)
{
//if (MessageBox.Show("Move Robot Home?", "Home",
// MessageBoxButtons.OKCancel,
// MessageBoxIcon.Question,
// MessageBoxDefaultButton.Button1)
// == DialogResult.OK)
//{
// DensoControl.Only().GoHome();
//}
DensoControl.Only().Controller.ClearError();
DensoControl.Only().TakeArm();
}
private void buttonMoveJ2_Click(object sender, EventArgs e)
{
int p;
if (int.TryParse(textBoxJ2.Text, out p) &&
p >= 10 && p < 100)
{
DensoControl.Only().Robot.MoveJ(2, p);
}
else
{
MessageBox.Show("Point Index Not In Range!");
}
}
private void buttonExtSpeed_Click(object sender, EventArgs e)
{
int speed;
if (int.TryParse(textBoxSetExtSpeed.Text, out speed) &&
speed > 0 && speed <= 90)
{
DensoControl.Only().Robot.ExtSpeed(speed);
}
else
{
MessageBox.Show("Speed Not In Range!");
}
}
private void buttonConnect_Click(object sender, EventArgs e)
{
DensoControl.Only().Init();
if (!DensoControl.Only().IsInitialized)
{
return;
}
//init ui
//Controller
dataGridViewController.Rows.Clear();
foreach (var s in DensoController.ControllerVarStrings)
{
dataGridViewController.Rows.Add(s);
}
//P
foreach (var p in DensoControl.Only().Controller.ControllerPointsPVars)
{
dataGridViewPointsP.Rows.Add(p.Key);
}
//J
foreach (var p in DensoControl.Only().Controller.ControllerPointsJVars)
{
dataGridViewPointsJ.Rows.Add(p.Key);
}
//Robot
dataGridViewRobot.Rows.Clear();
foreach (var s in DensoRobot.RobotVarStrings)
{
dataGridViewRobot.Rows.Add(s);
}
////Task
//dataGridViewTask.Rows.Clear();
//foreach (var s in DensoTask.TaskVarStrings)
//{
// dataGridViewTask.Rows.Add(s);
//}
timerUpdate.Interval = 800;
timerUpdate.Enabled = true;
}
private void buttonTeach_Click(object sender, EventArgs e)
{
if (DensoControl.Only().Controller.ControllerPointsPVars.ContainsKey(comboBoxPointIndex.Text))
{
DensoControl.Only().Controller.ControllerPointsPVars[comboBoxPointIndex.Text].Value
= DensoControl.Only().Robot.CurPosVar.Value;
MessageBox.Show("Teach " + comboBoxPointIndex.Text + ":" +
DensoControl.GetPString(DensoControl.Only().Robot.CurPosVar));
}
if (DensoControl.Only().Controller.ControllerPointsJVars.ContainsKey(comboBoxJointIndex.Text))
{
DensoControl.Only().Controller.ControllerPointsJVars[comboBoxJointIndex.Text].Value
= DensoControl.Only().Robot.CurAngVar.Value;
MessageBox.Show("Teach " + comboBoxJointIndex.Text + ":" +
DensoControl.GetJString(DensoControl.Only().Robot.CurAngVar));
}
}
public static DensoControl Only()
{
return(ins ?? (ins = new DensoControl()));
}
private void timerUpdate_Tick(object sender, EventArgs e)
{
#region
//controller status
try
{
textBoxMode.Text = DensoControl.Only().Controller.ControllerCaoVars["@MODE"].Value.ToString();
}
catch (Exception)
{
textBoxMode.Text = "?";
}
try
{
textBoxAutoMode.Text = DensoControl.Only().Controller.ControllerCaoVars["@AUTO_ENABLE"].Value.ToString();
}
catch (Exception)
{
textBoxAutoMode.Text = "?";
}
try
{
textBoxEmgency.Text =
DensoControl.Only().Controller.ControllerCaoVars["@EMERGENCY_STOP"].Value.ToString();
}
catch (Exception)
{
textBoxEmgency.Text = "?";
}
try
{
textBoxNormalStatus.Text =
DensoControl.Only().Controller.ControllerCaoVars["@NORMAL_STATUS"].Value.ToString();
}
catch (Exception)
{
textBoxNormalStatus.Text = "?";
}
try
{
textBoxErrorCode.Text = DensoControl.Only().Controller.ControllerCaoVars["@ERROR_CODE"].Value.ToString();
}
catch (Exception)
{
textBoxErrorCode.Text = "?";
}
try
{
textBoxErrorCodeInfo.Text =
DensoControl.Only().Controller.ControllerCaoVars["@ERROR_DESCRIPTION"].Value.ToString();
}
catch (Exception)
{
textBoxErrorCodeInfo.Text = "?";
}
////robot slave task
//try
//{
// textBoxRobotSlaveTask.Text = DensoControl.Only().RobslaveTask.TaskCaoVars["@STATUS"].Value.ToString();
//}
//catch (Exception)
//{
// textBoxRobotSlaveTask.Text = "?";
//}
//robot status
try
{
textBoxMotorStatus.Text = DensoControl.Only().Robot.RobCaoVars["@SERVO_ON"].Value.ToString();
}
catch (Exception)
{
textBoxMotorStatus.Text = "???";
}
try
{
textBoxBusyStatus.Text = DensoControl.Only().Robot.RobCaoVars["@BUSY_STATUS"].Value.ToString();
}
catch (Exception)
{
textBoxBusyStatus.Text = "???";
}
try
{
// Current Position
textBoxCurPos.Text = DensoControl.GetPString(DensoControl.Only().Robot.RobCaoVars["@CURRENT_POSITION"]);
}
catch (Exception)
{
textBoxCurPos.Text = "P(?,?,?,?,?,?,?)";
}
try
{
// Current Position
textBoxCurAngle.Text = DensoControl.GetJString(DensoControl.Only().Robot.RobCaoVars["@CURRENT_ANGLE"]);
}
catch (Exception)
{
textBoxCurAngle.Text = "J(?,?,?,?,?,?,?)";
}
try
{
// Current Position
textBoxCurTrans.Text = DensoControl.GetTString(DensoControl.Only().Robot.RobCaoVars["@CURRENT_TRANS"]);
}
catch (Exception)
{
textBoxCurTrans.Text = "T(?,?,?,?,?,?,?,?,?,?)";
}
try
{
textBoxWorkStatus.Text = DensoControl.Only().Robot.RobCaoVars["@CURRENT_WORK"].Value.ToString();
}
catch (Exception)
{
textBoxWorkStatus.Text = "???";
}
try
{
textBoxToolStatus.Text = DensoControl.Only().Robot.RobCaoVars["@CURRENT_TOOL"].Value.ToString();
}
catch (Exception)
{
textBoxToolStatus.Text = "???";
}
try
{
textBoxSpeed.Text = DensoControl.Only().Robot.RobCaoVars["@SPEED"].Value.ToString();
}
catch (Exception)
{
textBoxSpeed.Text = "???";
}
try
{
textBoxExtSpeed.Text = DensoControl.Only().Robot.RobCaoVars["@EXTSPEED"].Value.ToString();
}
catch (Exception)
{
textBoxExtSpeed.Text = "???";
}
#endregion
var sts = DensoControl.Only().ControllerStatus;
for (var i = 0; i < sts.Count; i++)
{
dataGridViewController.Rows[i].Cells[1].Value = sts[i];
}
var sts1 = DensoControl.Only().RobotStatus;
for (var i = 0; i < sts1.Count; i++)
{
dataGridViewRobot.Rows[i].Cells[1].Value = sts1[i];
}
if (timerIndex++ > 5)
{
timerIndex = 0;
for (var i = 0; i < DensoControl.Only().Controller.ControllerPointsPVars.Count; i++)
{
var str = DensoControl.GetPString(DensoControl.Only().Controller.ControllerPointsPVars["P" + i]);
dataGridViewPointsP.Rows[i].Cells[1].Value = str;
}
for (var i = 0; i < DensoControl.Only().Controller.ControllerPointsJVars.Count; i++)
{
var str = DensoControl.GetJString(DensoControl.Only().Controller.ControllerPointsJVars["J" + i]);
dataGridViewPointsJ.Rows[i].Cells[1].Value = str;
}
}
//List<string> sts2 = DensoControl.Only().RobslaveTaskStatus;
//for (int i = 0; i < sts2.Count; i++)
//{
// dataGridViewTask.Rows[i].Cells[1].Value = sts2[i];
//}
}
private void buttonDefTool_Click(object sender, EventArgs e)
{
DensoControl.Only().Robot.DefTool(1, new[] { 0, 0, 0, 0, 0, 0f });
}
private void buttonChangeTool_Click(object sender, EventArgs e)
{
DensoControl.Only().Robot.ChangeTool(int.Parse(textBoxChangeToolIndex.Text));
}
private void buttonGivearm_Click(object sender, EventArgs e)
{
DensoControl.Only().GiveArm();
}
private void buttonDisconnect_Click(object sender, EventArgs e)
{
timerUpdate.Enabled = false;
DensoControl.Only().Close();
}
public void DefTool(int index, float[] p)
{
Execute("DefTool", "1", DensoControl.GetPString(p));
}
