public void fctPlay(NLX.Robot.Kuka.Controller.RobotController rob)
{
if (listPos.Count() != 0)
{
// play the list, then empty it
rob.PlayTrajectory(listPos);
listPos.Clear();
}
}
static void Main(string[] args)
{
started = false;
Program prog = new Program();
Console.WriteLine("Start of programm....");
coeffTrans = 1.0;
coeffRot = 0.4;
Thread myThreadKeyboard;
myThreadKeyboard = new Thread(new ThreadStart(KeyboardThreadLoop));
myThreadKeyboard.Start();
device = new TDx.TDxInput.Device();
//keyboard = new TDx.TDxInput.Keyboard();
var keyboard = device.Keyboard;
Console.WriteLine(device.Sensor);
Console.WriteLine(device.Sensor.Translation);
//System.Threading.Thread.Sleep(2500);
//translation = device.Sensor.Translation;
//rotation = device.Sensor.Rotation;
Console.WriteLine(device.IsConnected);
device.Connect();
Console.WriteLine(device.IsConnected);
//System.Threading.Thread.Sleep(2500);
// la souris est connecte
/*Console.WriteLine("nombre de touches : ");
Console.WriteLine(keyboard.Keys);
Console.WriteLine("nombre de touches programmable : ");
Console.WriteLine(keyboard.ProgrammableKeys);*/
//keyboard.KeyDown += new System.EventHandler(prog.onKeyDown);
//double xMax = 0, yMax = 0, zMax = 0;
theRobot = new NLX.Robot.Kuka.Controller.RobotController();
theRobot.Connect("192.168.1.1");
Console.WriteLine("Connection avec le robot OK !");
sh = new ScenarioHandler();
//sh.readAndInterpretFile(@"C:\Users\IMERIR14\Desktop\Novalinxproject\trunk\darkproject\scenario.sck", theRobot);
Console.WriteLine("File interpretation finished");
Console.WriteLine("On entre dans le while sleep");
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
static void Main(string[] args)
{
/* Declaration des variables */
double x_Min = 0;
double y_Min = 0;
double z_Min = 0;
double x_Max = 0;
double y_Max = 0;
double z_Max = 0;
double valeurX;
double valeurY;
double valeurZ;
Console.WriteLine("Start...");
device = new TDx.TDxInput.Device();
device.Connect();
robotController = new NLX.Robot.Kuka.Controller.RobotController();
//robotController.Connect("192.168.1.1");
ConsoleKeyInfo info;
String bouton = device.Keyboard.GetKeyName(1);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(2);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(3);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(4);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(5);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(6);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(7);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(8);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(9);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(10);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(11);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(12);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(13);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(14);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(15);
Console.WriteLine(bouton);
while (true)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
/* Affichage des translations et des rotations */
//Console.WriteLine("Translation: " + translation.X + " : " + translation.Y + " : " + translation.Z);
//Console.WriteLine("Rotation: " + rotation.X + " : " + rotation.Y + " : " + rotation.Z + "\n");
valeurX = translation.X / 2353;
valeurY = translation.Y / 2702;
valeurZ = translation.Z / 2648;
System.Threading.Thread.Sleep(200);
}
}
static void Main(string[] args)
{
started = false;
Program prog = new Program();
Console.WriteLine("Start of programm....");
coeffTrans = 1.0;
coeffRot = 0.4;
Thread myThreadKeyboard;
myThreadKeyboard = new Thread(new ThreadStart(KeyboardThreadLoop));
myThreadKeyboard.Start();
device = new TDx.TDxInput.Device();
//keyboard = new TDx.TDxInput.Keyboard();
var keyboard = device.Keyboard;
Console.WriteLine(device.Sensor);
Console.WriteLine(device.Sensor.Translation);
//System.Threading.Thread.Sleep(2500);
//translation = device.Sensor.Translation;
//rotation = device.Sensor.Rotation;
Console.WriteLine(device.IsConnected);
device.Connect();
Console.WriteLine(device.IsConnected);
//System.Threading.Thread.Sleep(2500);
// la souris est connecte
/*Console.WriteLine("nombre de touches : ");
* Console.WriteLine(keyboard.Keys);
*
* Console.WriteLine("nombre de touches programmable : ");
* Console.WriteLine(keyboard.ProgrammableKeys);*/
//keyboard.KeyDown += new System.EventHandler(prog.onKeyDown);
//double xMax = 0, yMax = 0, zMax = 0;
theRobot = new NLX.Robot.Kuka.Controller.RobotController();
theRobot.Connect("192.168.1.1");
Console.WriteLine("Connection avec le robot OK !");
sh = new ScenarioHandler();
//sh.readAndInterpretFile(@"C:\Users\IMERIR14\Desktop\Novalinxproject\trunk\darkproject\scenario.sck", theRobot);
Console.WriteLine("File interpretation finished");
Console.WriteLine("On entre dans le while sleep");
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
static void Main(string[] args)
{
/* Declaration des variables */
double x_Min = 0;
double y_Min = 0;
double z_Min = 0;
double x_Max = 0;
double y_Max = 0;
double z_Max = 0;
double valeurX;
double valeurY;
double valeurZ;
Console.WriteLine("Start...");
device = new TDx.TDxInput.Device();
device.Connect();
robotController = new NLX.Robot.Kuka.Controller.RobotController();
//robotController.Connect("192.168.1.1");
ConsoleKeyInfo info;
String bouton = device.Keyboard.GetKeyName(1);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(2);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(3);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(4);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(5);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(6);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(7);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(8);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(9);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(10);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(11);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(12);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(13);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(14);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(15);
Console.WriteLine(bouton);
while (true)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
/* Affichage des translations et des rotations */
//Console.WriteLine("Translation: " + translation.X + " : " + translation.Y + " : " + translation.Z);
//Console.WriteLine("Rotation: " + rotation.X + " : " + rotation.Y + " : " + rotation.Z + "\n");
valeurX = translation.X / 2353;
valeurY = translation.Y / 2702;
valeurZ = translation.Z / 2648;
System.Threading.Thread.Sleep(200);
}
}
public void readAndInterpretFile2(string path, NLX.Robot.Kuka.Controller.RobotController robot)
{
Console.WriteLine("in readAndInterpretFile2");
Console.WriteLine("path: " + path);
int nbLignesPalette = 4;
int nbColonnesPalette = 4;
parseFile(path);
double xdecx = point1.X - point2.X;
double ydecx = point1.Y - point2.Y;
double xdecy = point1.X - point3.X;
double ydecy = point1.Y - point3.Y;
Console.WriteLine("xdecx: " + xdecx);
Console.WriteLine("ydecx: " + ydecx);
Console.WriteLine("xdecy: " + xdecy);
Console.WriteLine("ydecy: " + ydecy);
try
{
//for (int ligne = 0; ligne <= nbLignesPalette; ligne++)
for (int colonne = 0; colonne <= nbColonnesPalette; colonne++)
{
for (int ligne = 0; ligne <= nbLignesPalette; ligne++)
//for (int colonne = 0; colonne <= nbColonnesPalette; colonne++)
{
Console.WriteLine("ligne: " + ligne + ",colonne: " + colonne);
if (File.Exists(path))
{
using (StreamReader sr = new StreamReader(path))
{
double d;
//new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
listPos = new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
while (sr.Peek() >= 0)
{
string str = sr.ReadLine();
if (Double.TryParse(str, out d))
{
//
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
Console.WriteLine("x: " + d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("y: " + d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("z: " + d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("a: " + d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("b: " + d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("c: " + d);
cpos.C = d;
str = sr.ReadLine();
Console.WriteLine(str);
Console.WriteLine("robot: " + robot);
Console.WriteLine("listPos: " + listPos);
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else
{
// play the list of positions if it's not empty
Console.WriteLine("rob: " + robot);
Console.WriteLine("listpos: " + listPos);
fctPlay(robot);
if (str == "open")
{
// do the open
Console.WriteLine("doing open gripper");
robot.OpenGripper();
}
else if (str == "close")
{
Thread.Sleep(1000);
// do the close
Console.WriteLine("doing close gripper");
robot.CloseGripper();
}
else if (str == "p0")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Console.WriteLine("str: " + str);
Double.TryParse(str, out d);
//cpos.X = d + ligne*xdecy + colonne*xdecy;
Console.WriteLine("ligne: " + ligne);
Console.WriteLine("colonne: " + colonne);
cpos.X = d + (-1) * ligne * xdecx + (-1) * colonne * xdecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.Y = d + ligne*ydecx + colonne*ydecy;
cpos.Y = d + (-1) * ligne * ydecx + (-1) * colonne * ydecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else if (str == "p1")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.X = d + ligne * xdecx + colonne * xdecy;
cpos.X = d + (-1) * ligne * xdecx + (-1) * colonne * xdecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.Y = d + ligne * ydecx + colonne * ydecy;
cpos.Y = d + (-1) * ligne * ydecx + (-1) * colonne * ydecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else if (str == "p2")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
}
else if (str == "p3")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
}
}
}
fctPlay(robot);
}
}
else
{
Console.WriteLine("it doesn't exist");
}
}
}
Console.WriteLine("in readAndInterpretFile");
Console.WriteLine("path: " + path);
listPos = new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
}
catch (Exception e)
{
Console.WriteLine("The process failed: {0}", e.ToString());
}
}
public void readAndInterpretFile(string path, NLX.Robot.Kuka.Controller.RobotController robot)
{
Console.WriteLine("in readAndInterpretFile");
Console.WriteLine("path: " + path);
listPos = new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
try
{
if (File.Exists(path))
{
using (StreamReader sr = new StreamReader(path))
{
double d;
new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
while (sr.Peek() >= 0)
{
string str = sr.ReadLine();
if (Double.TryParse(str, out d))
{
//
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
Console.WriteLine("x: " + d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("y: " + d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("z: " + d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("a: " + d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("b: " + d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("c: " + d);
cpos.C = d;
str = sr.ReadLine();
Console.WriteLine(str);
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else
{
// play the list of positions if it's not empty
Console.WriteLine("rob: " + robot);
Console.WriteLine("listpos: " + listPos);
fctPlay(robot);
if (str == "open")
{
// do the open
Console.WriteLine("doing open gripper");
robot.OpenGripper();
}
else if (str == "close")
{
Thread.Sleep(1000);
// do the close
Console.WriteLine("doing close gripper");
robot.CloseGripper();
}
}
}
fctPlay(robot);
}
}
else
{
Console.WriteLine("it doesn't exist");
}
}
catch (Exception e)
{
Console.WriteLine("The process failed: {0}", e.ToString());
}
}
