public static void Jog(int id, SDKHrobot.HRobot.CallBackFun callback)
{
device_id = id;
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new SDKHrobot.HRobot.CallBackFun(EventFun);
}
else
{
Console.WriteLine("connect failure.");
}
if (SDKHrobot.HRobot.get_motor_state(device_id) == 0)
{
SDKHrobot.HRobot.set_motor_state(device_id, 1); // Servo on
}
SDKHrobot.HRobot.set_override_ratio(device_id, 100);
Thread printThread = new Thread(PrintFunction);
printThread.Start();
while (true)
{
ConsoleKey keyNum = Console.ReadKey().Key;
if (keyNum == ConsoleKey.Escape)
{
break;
}
JogByKeyDown(keyNum, 0);
WaitKeUp();
}
}
public static void Disconnect(int device_id, SDKHrobot.HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
SDKHrobot.HRobot.disconnect(device_id);
}
}
public static void Motion(int device_id, SDKHrobot.HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new SDKHrobot.HRobot.CallBackFun(EventFun);
}
else
{
Console.WriteLine("connect failure.");
return;
}
if (SDKHrobot.HRobot.get_motor_state(device_id) == 0)
{
SDKHrobot.HRobot.set_motor_state(device_id, 1); // Servo on
SDKHrobot.HRobot.set_override_ratio(device_id, 50);
Thread.Sleep(3000);
}
double[] cp1 = { 100, 368, 200, 180, 0, 90 };
double[] cp2 = { 0, 368, 100, 180, 0, 90 };
double[] cp3 = { -100, 368, 0, 180, 0, 90 };
double[] cp4 = { 0, 368, -100, 180, 0, 90 };
double[] cp5 = { 100, 368, 0, 180, 0, 90 };
double[] cp6 = { 0, 368, 100, 180, 0, 90 };
double[] cp7 = { -100, 368, 200, 180, 0, 90 };
double[] cp8 = { 0, 368, 293.5, 180, 0, 90 };
double[] Home = { 0, 0, 0, 0, -90, 0 };
SDKHrobot.HRobot.set_override_ratio(device_id, 60); //override speed ratio
SDKHrobot.HRobot.ptp_axis(device_id, 0, Home); //ptp to axis home
SDKHrobot.HRobot.circ_pos(device_id, 1, cp1, cp2); //circ motion
Thread.Sleep(1000);
SDKHrobot.HRobot.motion_hold(device_id);
Thread.Sleep(1000);
SDKHrobot.HRobot.motion_continue(device_id);
SDKHrobot.HRobot.motion_delay(device_id, 500);
SDKHrobot.HRobot.circ_pos(device_id, 1, cp3, cp4);
Thread.Sleep(1000);
SDKHrobot.HRobot.motion_abort(device_id);
SDKHrobot.HRobot.circ_axis(device_id, 1, cp5, cp6);
Thread.Sleep(500);
SDKHrobot.HRobot.circ_axis(device_id, 1, cp7, cp8);
Thread.Sleep(500);
}
public static void Connect(int device_id, SDKHrobot.HRobot.CallBackFun callback)
{
device_id = HRobot.open_connection("127.0.0.1", 1, callback);
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
StringBuilder v = new StringBuilder(100);
SDKHrobot.HRobot.get_hrsdk_version(v);
Console.WriteLine("hrsdk_version:" + v);
int level = SDKHrobot.HRobot.get_connection_level(device_id);
Console.WriteLine("level:" + level);
SDKHrobot.HRobot.set_connection_level(device_id, 1);
level = SDKHrobot.HRobot.get_connection_level(device_id);
Console.WriteLine("level:" + level);
Console.ReadLine();
}
else
{
Console.WriteLine("connect failure.");
}
}
public static void LINMotion(int device_id, SDKHrobot.HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new SDKHrobot.HRobot.CallBackFun(EventFun);
SDKHrobot.HRobot.set_override_ratio(device_id, 100);
}
else
{
Console.WriteLine("connect failure.");
return;
}
if (SDKHrobot.HRobot.get_motor_state(device_id) == 0)
{
SDKHrobot.HRobot.set_motor_state(device_id, 1); // Servo on
SDKHrobot.HRobot.set_override_ratio(device_id, 50);
Thread.Sleep(3000);
}
List <double> x = new List <double>();
List <double> y = new List <double>();
List <double> z = new List <double>();
double[] pos = { 0, 450, 200, 180, 0, 90 };
int xoffset = 20;
int zoffset = 10;
//make path
x.Add(pos[0]);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] + xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] + xoffset);
y.Add(pos[1]);
z.Add(pos[2] - zoffset);
x.Add(pos[0] + xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] - xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] - xoffset);
y.Add(pos[1]);
z.Add(pos[2] - zoffset);
x.Add(pos[0] - xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0]);
y.Add(pos[1]);
z.Add(pos[2]);
//line motion
for (int a = 0; a < x.Count; a++)
{
pos[0] = x[a];
pos[1] = y[a];
pos[2] = z[a];
while (SDKHrobot.HRobot.get_command_count(device_id) > 100)
{
Thread.Sleep(500);
}
SDKHrobot.HRobot.lin_pos(device_id, 2, 50, pos);
}
Thread.Sleep(1000);
//axis
double[] pos_home = { 0, 0, 0, 0, -90, 0 };
SDKHrobot.HRobot.lin_axis(device_id, 2, 50, pos_home);
//rel_pos
Thread.Sleep(500);
double[] pos1 = { 10, 0, 0, 0, 0, 0 };
SDKHrobot.HRobot.lin_rel_pos(device_id, 2, 50, pos1);
//rel_axis
Thread.Sleep(500);
double[] pos2 = { 10, 10, -10, 10, -10, 10 };
SDKHrobot.HRobot.lin_rel_axis(device_id, 2, 50, pos2);
Thread.Sleep(500);
SDKHrobot.HRobot.lin_pr(device_id, 2, 50, 1);
}
public static void File(int device_id, SDKHrobot.HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new SDKHrobot.HRobot.CallBackFun(EventFun);
}
else
{
Console.WriteLine("connect failure.");
return;
}
if (SDKHrobot.HRobot.get_motor_state(device_id) == 0)
{
SDKHrobot.HRobot.set_motor_state(device_id, 1); // Servo on
}
SDKHrobot.HRobot.ext_task_start(device_id, 0, 1);
Thread.Sleep(2000);
SDKHrobot.HRobot.task_start(device_id, "test.hrb");
Thread.Sleep(2000);
SDKHrobot.HRobot.task_hold(device_id);
Thread.Sleep(2000);
SDKHrobot.HRobot.task_continue(device_id);
Thread.Sleep(2000);
SDKHrobot.HRobot.task_abort(device_id);
Thread.Sleep(2000);
string from_file_path = "test.hrb";
string to_file_path = "Program\\test.hrb";
SDKHrobot.HRobot.download_file(device_id, from_file_path, to_file_path); // 下載控制器檔名為test.hrb檔案至專案底下的Program資料夾中，且以test.hrb為名。
string file_name = "Program\\test.hrb";
Thread.Sleep(2000); // 等待檔案下載完成，download_file與send_file不可同時進行
SDKHrobot.HRobot.send_file(device_id, file_name, "test.hrb"); // 從專案底下的Program資料夾中上傳檔名為test.hrb檔案，且以test.hrb為名。
Thread.Sleep(100);
int cnt = -1;
ulong[] alarm = new ulong[20];
SDKHrobot.HRobot.get_alarm_code(device_id, ref cnt, alarm);
if (cnt > 0)
{
SDKHrobot.HRobot.clear_alarm(device_id);
}
Thread.Sleep(200);
StringBuilder update = new StringBuilder("update");
SDKHrobot.HRobot.update_hrss(device_id, update);
SDKHrobot.HRobot.new_folder(device_id, "new_folder");
SDKHrobot.HRobot.file_rename(device_id, "test2.hrb", "test3.hrb");
SDKHrobot.HRobot.file_drag(device_id, "test3.hrb", "new_folder/test3.hrb");
SDKHrobot.HRobot.delete_file(device_id, "new_folder/test3.hrb");
SDKHrobot.HRobot.delete_folder(device_id, "new_folder");
for (int i = 0; i < SDKHrobot.HRobot.get_prog_number(device_id); i++)
{
StringBuilder str2 = new StringBuilder(20);
SDKHrobot.HRobot.get_prog_name(device_id, i, str2);
Console.WriteLine(str2);
}
Console.ReadKey();
}
public static void PTPMotion(int device_id, SDKHrobot.HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new SDKHrobot.HRobot.CallBackFun(EventFun);
SDKHrobot.HRobot.set_override_ratio(device_id, 60);
}
else
{
Console.WriteLine("connect failure.");
return;
}
if (SDKHrobot.HRobot.get_motor_state(device_id) == 0)
{
SDKHrobot.HRobot.set_motor_state(device_id, 1); // Servo on
SDKHrobot.HRobot.set_override_ratio(device_id, 50);
Thread.Sleep(3000);
}
List <double> x = new List <double>();
List <double> y = new List <double>();
List <double> z = new List <double>();
double[] pos = { 0, 300, -100, 0, 0, 0 };
int xoffset = 20;
int zoffset = 10;
x.Add(pos[0]);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] + xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] + xoffset);
y.Add(pos[1]);
z.Add(pos[2] - zoffset);
x.Add(pos[0] + xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] - xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0] - xoffset);
y.Add(pos[1]);
z.Add(pos[2] - zoffset);
x.Add(pos[0] - xoffset);
y.Add(pos[1]);
z.Add(pos[2]);
x.Add(pos[0]);
y.Add(pos[1]);
z.Add(pos[2]);
//ptp motion
for (int a = 0; a < x.Count; a++)
{
pos[0] = x[a];
pos[1] = y[a];
pos[2] = z[a];
while (SDKHrobot.HRobot.get_command_count(device_id) > 100)
{
Thread.Sleep(500);
}
SDKHrobot.HRobot.ptp_pos(device_id, 1, pos);
}
Thread.Sleep(5000);
//axis
for (int a = 0; a < x.Count; a++)
{
pos[0] = x[a];
pos[1] = y[a] - 300;
pos[2] = z[a];
while (SDKHrobot.HRobot.get_command_count(device_id) > 100)
{
Thread.Sleep(500);
}
SDKHrobot.HRobot.ptp_axis(device_id, 1, pos);
}
Thread.Sleep(5000);
pos[1] = 0;
//rel_pos
SDKHrobot.HRobot.ptp_rel_pos(device_id, 1, pos);
Thread.Sleep(500);
//rel_axis
SDKHrobot.HRobot.ptp_rel_axis(device_id, 1, pos);
Thread.Sleep(500);
SDKHrobot.HRobot.ptp_pr(device_id, 1, 1);
}
