IEnumerator phase_1() { if (GSKDATA.SoftCurrentMode == "Teach") { CameraPosition(); float waittime = 0; ShowTips(); ReadTips(TitleName[stage_current]); waittime = GetVoiceTime(TitleName[stage_current]); yield return(StartCoroutine(Timer(waittime))); LstageRead(); showtips(stage_name[0]); ReadTips(stage_name[0]); waittime = GetVoiceTime(stage_name[0]); yield return(StartCoroutine(Timer(waittime))); //12按钮同时高亮 button.StartCoroutine(button.HighlightAxisBt()); //运动 MOVJCLASS.StartPos = MotionScript.CurrentAngle_All(); MOVJCLASS.EndPos = new float[] { -13.25663f, 10.14561f, 24.79338f, -22.36026f, -37.07446f, 18.17154f }; MOVJCLASS.StartRun(); yield return(new WaitForSeconds(3.0f)); //add movj p1 showtips(stage_name[1]); ReadTips(stage_name[1]); waittime = GetVoiceTime(stage_name[1]); yield return(StartCoroutine(Timer(waittime))); button.MouseMove(0, 41); FuncPara.loopControl = 0; yield return(StartCoroutine(WaitLoop())); yield return(StartCoroutine(button.ButtonClick(41))); //add yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(6))); //chose showtips(stage_name[2]); ReadTips(stage_name[2]); waittime = GetVoiceTime(stage_name[2]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(44))); //1 yield return(StartCoroutine(button.ButtonClick(36))); //input } else { Debug.Log("pass" + stage_current); GetCurrentCode(); GetCurrentPosition(); yield return(StartCoroutine(DoubleE())); } }
//退出案例 public void ExitCase() { StopAllCoroutines(); button.StopAllCoroutines(); //axis initial MOVJCLASS.EndRun(); RobotReturnZero(); //close teachwindow FuncPara.showTeachWindow = false; //删除程序 设置当前程序 GSKFile.DeleteProgram(FileName); //rightmenu FuncPara.rightclick_menu_on = false; //voice tips mouse DisableTips(); ReadTips(""); button.MouseStop(); button.OriginalDisableColor(); //panel button.ClosePanel(); button.CloseIOPanel(); button.BtAllow(); //reset scene ResetScene(); ReturnToOriAng(); Debug.Log("ExitCase"); }
//阶段的初始化 public void StageInitial() { //stop coroutines StopAllCoroutines(); button.StopAllCoroutines(); //鼠标 button.MouseStop(); button.OriginalDisableColor(); //tips DisableTips(); ReadTips(""); //camera axis CameraPosition(); MOVJCLASS.EndRun(); AxisPosition(); //device DevicePosition(); //code CodeInitial(); //screen show //StagePanelInitial(); PanelStageInitial(); button.CloseIOPanel_Teach(); //rightmenu FuncPara.rightclick_menu_on = false; //out in SetStageInInfo(); SetStageOutInfo(); }
IEnumerator phase_7()//movl p5 { if (GSKDATA.SoftCurrentMode == "Teach") { //CameraPosition(); float waittime = 0; ShowTips(); ReadTips(TitleName[stage_current]); waittime = GetVoiceTime(TitleName[stage_current]); yield return(StartCoroutine(Timer(waittime))); LstageRead(); //12按钮同时高亮 button.StartCoroutine(button.HighlightAxisBt()); //运动 MOVJCLASS.StartPos = MotionScript.CurrentAngle_All(); MOVJCLASS.EndPos = new float[] { 108.14f, 11.22f, 9.66f, 0.39f, 63.46f, 18.28f }; MOVJCLASS.StartRun(); yield return(new WaitForSeconds(3.0f)); button.MouseMove(0, 41); FuncPara.loopControl = 0; yield return(StartCoroutine(WaitLoop())); yield return(StartCoroutine(button.ButtonClick(41))); //add yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(9))); //down yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(38))); //5 yield return(StartCoroutine(button.ButtonClick(36))); //input } else { Debug.Log("pass" + stage_current); GetCurrentCode(); GetCurrentPosition(); yield return(StartCoroutine(DoubleE())); } }
public void MOVJC(float t) { float tf = 2f; //完成插补所需的时间 if (tf != 0) { JMove_1.JointInterpolation_3(MOVJCLASS.StartPos[0], MOVJCLASS.EndPos[0], tf, t); JMove_2.JointInterpolation_3(MOVJCLASS.StartPos[1], MOVJCLASS.EndPos[1], tf, t); JMove_3.JointInterpolation_3(MOVJCLASS.StartPos[2], MOVJCLASS.EndPos[2], tf, t); JMove_4.JointInterpolation_3(MOVJCLASS.StartPos[3], MOVJCLASS.EndPos[3], tf, t); JMove_5.JointInterpolation_3(MOVJCLASS.StartPos[4], MOVJCLASS.EndPos[4], tf, t); JMove_6.JointInterpolation_3(MOVJCLASS.StartPos[5], MOVJCLASS.EndPos[5], tf, t); MOVJCLASS.runtime += GSKDATA.D_time; } else { MOVJCLASS.EndRun(); } if (tf <= t) { MOVJCLASS.EndRun(); } }
IEnumerator phase_4() { if (GSKDATA.SoftCurrentMode == "Teach") { CameraPosition(); float waittime = 0; ShowTips(); ReadTips(TitleName[stage_current]); waittime = GetVoiceTime(TitleName[stage_current]); yield return(StartCoroutine(Timer(waittime))); LstageRead(); showtips(stage_name[0]); ReadTips(stage_name[0]); waittime = GetVoiceTime(stage_name[0]); yield return(StartCoroutine(Timer(waittime))); //12按钮同时高亮 button.StartCoroutine(button.HighlightAxisBt()); //运动 MOVJCLASS.StartPos = MotionScript.CurrentAngle_All(); MOVJCLASS.EndPos = new float[] { -13.14824f, 19.40651f, 30.1102f, -17.07535f, -50.79452f, 10.98974f }; MOVJCLASS.StartRun(); yield return(new WaitForSeconds(3.0f)); //add movl p2 showtips(stage_name[1]); ReadTips(stage_name[1]); waittime = GetVoiceTime(stage_name[1]); yield return(StartCoroutine(Timer(waittime))); button.MouseMove(0, 41); FuncPara.loopControl = 0; yield return(StartCoroutine(WaitLoop())); yield return(StartCoroutine(button.ButtonClick(41))); //add yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(9))); //down yield return(StartCoroutine(button.ButtonClick(6))); //chose showtips(stage_name[2]); ReadTips(stage_name[2]); waittime = GetVoiceTime(stage_name[2]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(37))); //4 yield return(StartCoroutine(button.ButtonClick(36))); //input } else { Debug.Log("pass" + stage_current); GetCurrentCode(); GetCurrentPosition(); yield return(StartCoroutine(DoubleE())); } }
IEnumerator phase_10()//movl p4 { if (GSKDATA.SoftCurrentMode == "Teach") { float waittime = 0; ShowTips(); ReadTips(TitleName[stage_current]); waittime = GetVoiceTime(TitleName[stage_current]); yield return(StartCoroutine(Timer(waittime))); LstageRead(); showtips(stage_name[0]); ReadTips(stage_name[0]); waittime = GetVoiceTime(stage_name[0]); yield return(StartCoroutine(Timer(waittime))); //12按钮同时高亮 button.StartCoroutine(button.HighlightAxisBt()); //运动 MOVJCLASS.StartPos = MotionScript.CurrentAngle_All(); MOVJCLASS.EndPos = new float[] { 111.00f, 5.93f, -4.44f, 3.28f, 83.54f, 21.27f }; MOVJCLASS.StartRun(); yield return(new WaitForSeconds(3.0f)); //add movl p4 showtips(stage_name[1]); ReadTips(stage_name[1]); waittime = GetVoiceTime(stage_name[1]); yield return(StartCoroutine(Timer(waittime))); button.MouseMove(0, 41); FuncPara.loopControl = 0; yield return(StartCoroutine(WaitLoop())); yield return(StartCoroutine(button.ButtonClick(41))); //add yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(9))); //down yield return(StartCoroutine(button.ButtonClick(6))); //chose showtips(stage_name[2]); ReadTips(stage_name[2]); waittime = GetVoiceTime(stage_name[2]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(37))); //4 yield return(StartCoroutine(button.ButtonClick(36))); //input showtips(stage_name[3]); ReadTips(stage_name[3]); waittime = GetVoiceTime(stage_name[3]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(6)));//chose } else { Debug.Log("pass" + stage_current); GetCurrentCode(); GetCurrentPosition(); yield return(StartCoroutine(DoubleE())); } }
IEnumerator phase_5()//movl p4 v20 { if (GSKDATA.SoftCurrentMode == "Teach") { //CameraPosition(); float waittime = 0; ShowTips(); ReadTips(TitleName[stage_current]); waittime = GetVoiceTime(TitleName[stage_current]); yield return(StartCoroutine(Timer(waittime))); LstageRead(); showtips(stage_name[0]); ReadTips(stage_name[0]); waittime = GetVoiceTime(stage_name[0]); yield return(StartCoroutine(Timer(waittime))); //12按钮同时高亮 button.StartCoroutine(button.HighlightAxisBt()); //运动 MOVJCLASS.StartPos = MotionScript.CurrentAngle_All(); MOVJCLASS.EndPos = new float[] { -12.0844f, -35.44544f, 50.34214f, 23.70327f, 24.57695f, -29.10693f }; MOVJCLASS.StartRun(); yield return(new WaitForSeconds(3.0f)); //add movj p2 v50 showtips(stage_name[1]); ReadTips(stage_name[1]); waittime = GetVoiceTime(stage_name[1]); yield return(StartCoroutine(Timer(waittime))); button.MouseMove(0, 41); FuncPara.loopControl = 0; yield return(StartCoroutine(WaitLoop())); yield return(StartCoroutine(button.ButtonClick(41))); //add yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(6))); //chose showtips(stage_name[2]); ReadTips(stage_name[2]); waittime = GetVoiceTime(stage_name[2]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(37))); //4 yield return(StartCoroutine(button.ButtonClick(36))); //input showtips(stage_name[3]); ReadTips(stage_name[3]); waittime = GetVoiceTime(stage_name[3]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(38))); //5 yield return(StartCoroutine(button.ButtonClick(52))); //0 yield return(StartCoroutine(button.ButtonClick(36))); //input } else { Debug.Log("pass" + stage_current); GetCurrentCode(); GetCurrentPosition(); yield return(StartCoroutine(DoubleE())); } }
IEnumerator phase_3()//movl p3 v20 { if (GSKDATA.SoftCurrentMode == "Teach") { //CameraPosition(); float waittime = 0; ShowTips(); ReadTips(TitleName[stage_current]); waittime = GetVoiceTime(TitleName[stage_current]); yield return(StartCoroutine(Timer(waittime))); LstageRead(); showtips(stage_name[0]); ReadTips(stage_name[0]); waittime = GetVoiceTime(stage_name[0]); yield return(StartCoroutine(Timer(waittime))); //12按钮同时高亮 button.StartCoroutine(button.HighlightAxisBt()); //运动 MOVJCLASS.StartPos = MotionScript.CurrentAngle_All(); MOVJCLASS.EndPos = new float[] { -8.742731f, -14.47661f, 36.62946f, 25.04917f, 16.66096f, -29.40728f }; MOVJCLASS.StartRun(); yield return(new WaitForSeconds(3.0f)); //add movl p3 v20 showtips(stage_name[1]); ReadTips(stage_name[1]); waittime = GetVoiceTime(stage_name[1]); yield return(StartCoroutine(Timer(waittime))); button.MouseMove(0, 41); FuncPara.loopControl = 0; yield return(StartCoroutine(WaitLoop())); yield return(StartCoroutine(button.ButtonClick(41))); //add yield return(StartCoroutine(button.ButtonClick(6))); //chose yield return(StartCoroutine(button.ButtonClick(9))); //down yield return(StartCoroutine(button.ButtonClick(6))); //chose showtips(stage_name[2]); ReadTips(stage_name[2]); waittime = GetVoiceTime(stage_name[2]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(46))); //3 yield return(StartCoroutine(button.ButtonClick(36))); //input showtips(stage_name[3]); ReadTips(stage_name[3]); waittime = GetVoiceTime(stage_name[3]); yield return(StartCoroutine(Timer(waittime))); yield return(StartCoroutine(button.ButtonClick(8))); //right yield return(StartCoroutine(button.ButtonClick(45))); //2 yield return(StartCoroutine(button.ButtonClick(52))); //0 yield return(StartCoroutine(button.ButtonClick(36))); //input } else { Debug.Log("pass" + stage_current); GetCurrentCode(); GetCurrentPosition(); yield return(StartCoroutine(DoubleE())); } }