/// <summary>
/// 界面初始化
/// </summary>
public 打孔器机械臂界面()
{
#region 设置listview
this.listView1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.listView1.FullRowSelect = true;
this.listView1.HideSelection = false;
this.listView1.GridLines = true;
this.listView1.Location = new System.Drawing.Point(5, 41);
this.listView1.Name = "listView1";
this.listView1.Size = new System.Drawing.Size(425, 206);
this.listView1.TabIndex = 20;
this.listView1.UseCompatibleStateImageBehavior = false;
this.listView1.View = System.Windows.Forms.View.Details;
listView1.Visible = false;//使listview1不可见
listView1.Clear();
listView1.Columns.Add("步数", 65, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("x位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("y位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("z位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("a位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("b位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("c位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
this.Controls.Add(listView1);
#endregion
checkstep.OntempChange += new EventCheckChange.tempChange(event_stepchange);
InitializeComponent();
button_cycle_start.Enabled = false;
short num = LTDMC.dmc_board_init();//获取卡数量
board_num = num;
if (num <= 0 || num > 6)
{
MessageBox.Show("初始卡失败!", "出错");
}
ushort _num = 0;
ushort[] cardids = new ushort[6];
uint[] cardtypes = new uint[6];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
}
_cardid = cardids[0];
InitializationCalculate();//初始化matlab
//InitializationPlot();//
robot1 = new HoleRobot(_cardid);
m_thread = new Thread(Display);
m_thread.Start();
robot1.PlotRobot = true;//开启图像仿真
timer1.Start();
timer_Hole.Start();
robot1.PropertyChanged += PropertyChangedManage;
button6.Enabled = true;
button2.Enabled = true;
button_cycle_start.Enabled = false;
button3.Enabled = false;
userControl11.Enabled = false;
// double[] q0 = new double[6] { PI / 2, PI / 2, 0, 0, 0, 0 };
//PaintRobot(q0);
}
