public Roboteam()
{
Robot1 = new Robot();
Robot2 = new Robot();
}
public Roboteam(Robot robot1, Robot robot2)
{
Robot1 = robot1;
Robot2 = robot2;
}
private void ViewRobotProgramPosition(Robot robot)
{
comboBoxRobotProgramTask.SelectedIndex = (int)robot.Program.Commands[selecetedCommand].Task;
controlProgramX.SetValue(robot.Program.Commands[selecetedCommand].Values.X);
controlProgramY.SetValue(robot.Program.Commands[selecetedCommand].Values.Y);
controlProgramZ.SetValue(robot.Program.Commands[selecetedCommand].Values.Z);
controlProgramA.SetValue(robot.Program.Commands[selecetedCommand].Values.A);
controlProgramB.SetValue(robot.Program.Commands[selecetedCommand].Values.B);
controlProgramC.SetValue(robot.Program.Commands[selecetedCommand].Values.C);
buttonRobotProgramPositionConfirm.Visibility = System.Windows.Visibility.Visible;
lineRobotProgramPosition.Visibility = System.Windows.Visibility.Visible;
groupBoxRobotProgramPosition.Height = Double.NaN;
}
private void buttonRobotProgramPositionAdd_Click(object sender, RoutedEventArgs e)
{
Robot robot = new Robot();
if (controlRobot.Value == 1)
robot = roboteam.Robot1;
else if (controlRobot.Value == 2)
robot = roboteam.Robot2;
Routine.Command command = new Routine.Command(Routine.Task.PTP, new IRob.Geometry.Position(0, 0, 0, 0, 0, 0));
if (selecetedCommand != -1)
{
robot.Program.InsertCommand(selecetedCommand, command);
ViewRobotProgramPosition(robot);
}
else
{
robot.Program.AddCommand(command);
selecetedCommand = robot.Program.Commands.Count() - 1;
ViewRobotProgramPosition(robot);
}
}
private void ViewRobotData(Roboteam robotteam, uint index)
{
//Get selected robot
Robot robot = new Robot();
if (index == 1)
robot = roboteam.Robot1;
else if (index == 2)
robot = roboteam.Robot2;
//Connection and Position
if (robot.Status == Robot.ConnectionStatus.Connected)
{
buttonRobotConnect.SetStatus(UserControlConnectionButton.Status.Connected);
labelRobotVelocity.Content = "Velocity: " + robot.Vel;
}
else if (robot.Status == Robot.ConnectionStatus.Connecting)
{
buttonRobotConnect.SetStatus(UserControlConnectionButton.Status.Connecting);
}
else
{
buttonRobotConnect.SetStatus(UserControlConnectionButton.Status.Disconnected);
}
//Position
if (radioButtonRobotControlCartesian.IsChecked == true)
{
controlX.SetValue(robot.TPos.X);
controlY.SetValue(robot.TPos.Y);
controlZ.SetValue(robot.TPos.Z);
controlA.SetValue(robot.TPos.A);
controlB.SetValue(robot.TPos.B);
controlC.SetValue(robot.TPos.C);
}
else if (radioButtonRobotControlAxis.IsChecked == true)
{
controlX.SetValue(robot.TAxs.X);
controlY.SetValue(robot.TAxs.Y);
controlZ.SetValue(robot.TAxs.Z);
controlA.SetValue(robot.TAxs.A);
controlB.SetValue(robot.TAxs.B);
controlC.SetValue(robot.TAxs.C);
}
//Program
List<string> itemCollectionRobotProgram = new List<string>();
foreach (Routine.Command command in robot.Program.Commands)
{
itemCollectionRobotProgram.Add(command.Task.ToString() + " X " + command.Values.X.ToString("0.00") + ", Y " + command.Values.Y.ToString("0.00") + ", Z " + command.Values.Z.ToString("0.00") + ", A " + command.Values.A.ToString("0.00") + ", B " + command.Values.B.ToString("0.00") + ", C " + command.Values.C.ToString("0.00"));
}
listBoxRobotProgram.ItemsSource = itemCollectionRobotProgram;
listBoxRobotProgram.SelectedIndex = selecetedCommand;
if (robot.Program.Commands.Count() == 0)
{
buttonRobotProgramPlay.IsEnabled = false;
play = false;
}
else
buttonRobotProgramPlay.IsEnabled = true;
if (play)
{
imageRobotProgramPlay.Source = new BitmapImage(new Uri("pack://application:,,,/Resources/pauseicon.png"));
buttonRobotProgramOpen.IsEnabled = false;
buttonRobotProgramSave.IsEnabled = false;
buttonRobotProgramClose.IsEnabled = false;
buttonRobotProgramPositionAdd.IsEnabled = false;
buttonRobotProgramPositionCopy.IsEnabled = false;
buttonRobotProgramPositionUp.IsEnabled = false;
buttonRobotProgramPositionDown.IsEnabled = false;
buttonRobotProgramPositionDelete.IsEnabled = false;
buttonRobotProgramPositionConfirm.Visibility = System.Windows.Visibility.Collapsed;
lineRobotProgramPosition.Visibility = System.Windows.Visibility.Collapsed;
groupBoxRobotProgramPosition.Height = 0;
}
else
{
imageRobotProgramPlay.Source = new BitmapImage(new Uri("pack://application:,,,/Resources/playicon.png"));
buttonRobotProgramOpen.IsEnabled = true;
buttonRobotProgramSave.IsEnabled = true;
buttonRobotProgramClose.IsEnabled = true;
buttonRobotProgramPositionAdd.IsEnabled = true;
buttonRobotProgramPositionCopy.IsEnabled = true;
buttonRobotProgramPositionUp.IsEnabled = true;
buttonRobotProgramPositionDown.IsEnabled = true;
buttonRobotProgramPositionDelete.IsEnabled = true;
}
}
private void controlC_ValueChanged(object sender, RoutedEventArgs e)
{
Robot robot = new Robot();
if (controlRobot.Value == 1)
robot = roboteam.Robot1;
else if (controlRobot.Value == 2)
robot = roboteam.Robot2;
if (robot.Action == Routine.Task.AXS)
robot.TAxs.C = controlC.Value;
else
robot.TPos.C = controlC.Value;
}
private void buttonRobotConnect_Click(object sender, RoutedEventArgs e)
{
Robot robot = new Robot();
if (controlRobot.Value == 1)
robot = roboteam.Robot1;
else if (controlRobot.Value == 2)
robot = roboteam.Robot2;
if (robot.Status == Robot.ConnectionStatus.Disconnected)
robot.Connect(Properties.Settings.Default.Port, Properties.Settings.Default.CardIndex);
else
robot.Disconnect();
}