public override String to_script(bRobotBrand type)
{
CultureInfo cultureInfo = Thread.CurrentThread.CurrentCulture;
TextInfo textInfo = cultureInfo.TextInfo;
string cmd;
bool temp = !this._value;
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
// URSCRIPT
case (bRobotBrand.UR):
cmd = String.Format("\twhile(get_digital_in({0}) == {1}):\n\tend\n", _id, textInfo.ToTitleCase(temp.ToString()));
return cmd;
case (bRobotBrand.KUKA):
cmd = String.Format("WHILE $IN[{0}]=={1}\nENDWHILE\n", _id, temp.ToString().ToUpper());
return cmd;
case (bRobotBrand.ABB):
return "Not implemented.\n";
default:
return "Bad command.";
}
}
public override String to_script(bRobotBrand type, bool cont)
{
string cmd;
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
// URSCRIPT
case (bRobotBrand.UR):
Types.UR.AxisAngle aa = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
if (this.axis)
{
cmd = String.Format("movep([{0:0.000}, {1:0.000}, {2:0.000}, {3:0.000}, {4:0.000}, {5:0.000}], a={6:0.000}, v={7:0.000}",
this.q[0], this.q[1], this.q[2],
this.q[3], this.q[4], this.q[5],
this.qdd, this.qd);
}
else
{
cmd = String.Format("movep(p[{0:0.000}, {1:0.000}, {2:0.000}, {3:0.000}, {4:0.000}, {5:0.000}], a={6:0.000}, v={7:0.000}",
this.waypoint.Origin.X * 0.001, this.waypoint.Origin.Y * 0.001, this.waypoint.Origin.Z * 0.001,
aa.x * aa.angle, aa.y * aa.angle, aa.z * aa.angle,
this.qdd, this.qd);
}
if (r > 0.0001)
cmd += String.Format(", r={0:0.0000}", r * 0.001);
cmd += ")\n";
return cmd;
// KUKA KRL
case (bRobotBrand.KUKA):
Types.KUKA.kukaABC k1 = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
cmd = "SPL {" + String.Format("X {0:0.0000}, Y {1:0.0000}, Z {2:0.0000}, A {3:0.0000}, B {4:0.0000}, C {5:0.0000},",
k1.x, k1.y, k1.z, k1.a, k1.b, k1.c)
+ "E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}";
if (cont)
cmd += "\n";
//cmd += " C_VEL\n";
else
cmd += "\n";
return cmd;
// ABB RAPID
case (bRobotBrand.ABB):
Quaternion quat;
break;
}
return "circular move";
}
public override String to_script(bRobotBrand type, bool cont)
{
string cmd;
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
case (bRobotBrand.UR):
Types.UR.AxisAngle aa = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
if (this.axis)
{
cmd = String.Format("movej([{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}], a={6:0.0000}, v={7:0.0000}",
this.q[0], this.q[1], this.q[2],
this.q[3], this.q[4], this.q[5],
this.qdd, this.qd);
}
else
{
cmd = String.Format("movej(p[{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}], a={6:0.0000}, v={7:0.0000}",
this.waypoint.Origin.X * 0.001, this.waypoint.Origin.Y * 0.001, this.waypoint.Origin.Z * 0.001,
aa.x * aa.angle, aa.y * aa.angle, aa.z * aa.angle,
this.qdd, this.qd);
}
if (r > 0.0001)
cmd += String.Format(", r = {0:0.0000}", r * 0.001);
cmd += ")\n";
return cmd;
case (bRobotBrand.KUKA):
Types.KUKA.kukaABC k = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
//cmd = "PTP {" + String.Format("X {0:0.0000}, Y {1:0.0000}, Z {2:0.0000}, A {3:0.0000}, B {4:0.0000}, C {5:0.0000},",
//k.x, k.y, k.z, k.a, k.b, k.c)
//+ String.Format("E1 0, E2 0, E3 0, E4 0, E5 0, E6 0, S {0}, T {1}", k.s, k.t) + "}";
cmd = "PTP {" + String.Format("X {0:0.0000}, Y {1:0.0000}, Z {2:0.0000}, A {3:0.0000}, B {4:0.0000}, C {5:0.0000},",
k.x, k.y, k.z, k.a, k.b, k.c)
+
"E1 0, E2 0, E3 0, E4 0, E5 0, E6 0 }";
if (cont)
cmd += "\n";
//cmd += " C_PTP\n";
else
cmd += "\n";
return cmd;
case (bRobotBrand.ABB):
break;
}
return "joint move";
}
public override String to_script(bRobotBrand type, bool cont)
{
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
// URSCRIPT
case (bRobotBrand.UR):
return String.Format("stopl(a={0:0.000}\n", this.qdd);
// KUKA KRL
case (bRobotBrand.KUKA):
return "HALT\n";
// ABB RAPID
case (bRobotBrand.ABB):
break;
}
return "stop move";
}
public override String to_script(bRobotBrand type, bool cont)
{
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
case (bRobotBrand.UR):
Types.UR.AxisAngle q1 = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
Types.UR.AxisAngle q2 = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint2));
return String.Format("movec(p[{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}], p[{6:0.0000}, {7:0.0000}, {8:0.0000}, {9:0.0000}, {10:0.0000}, {11:0.0000}], a={12:0.0000}, v={13:0.0000})",
this.waypoint.Origin.X * 0.001, this.waypoint.Origin.Y * 0.001, this.waypoint.Origin.Z * 0.001,
q1.x, q1.y, q1.z,
this.waypoint2.Origin.X * 0.001, this.waypoint2.Origin.Y * 0.001, this.waypoint2.Origin.Z * 0.001,
q2.x, q2.y, q2.z,
this.qdd, this.qd);
case (bRobotBrand.KUKA):
Types.KUKA.kukaABC k1 = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
Types.KUKA.kukaABC k2 = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint2));
string cmd = String.Format("CIRC {X {0:0.000}, Y {1:0.000}, Z {2:0.000}, A {3:0.000}, B {4:0.000}, C {5:0.000},",
k1.x, k1.y, k1.z, k1.a, k1.b, k1.c)
+ String.Format("X {0:0.000}, Y {1:0.000}, Z {2:0.000}, A {3:0.000}, B {4:0.000}, C {5:0.000},",
k2.x, k2.y, k2.z, k2.a, k2.b, k2.c)
+ "E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}";
if (cont)
cmd += " C_VEL\n";
else
cmd += "\n";
return cmd;
case (bRobotBrand.ABB):
break;
}
return "circular move";
}
public override String to_script(bRobotBrand type)
{
CultureInfo cultureInfo = Thread.CurrentThread.CurrentCulture;
TextInfo textInfo = cultureInfo.TextInfo;
string cmd;
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
// URSCRIPT
case (bRobotBrand.UR):
cmd = String.Format("\tset_digital_out({0}, {1})\n", _id, textInfo.ToTitleCase(_value.ToString()));
return cmd;
case (bRobotBrand.KUKA):
cmd = String.Format("$OUT[{0}]={1}\n", _id, _value.ToString().ToUpper());
return cmd;
case (bRobotBrand.ABB):
return "Not implemented.\n";
default:
return "Bad command.";
}
}
public virtual String to_script(bRobotBrand model, bool cont)
{
return "Not implemented.";
}
public virtual String to_script(bRobotBrand brand)
{
return "Not implemented.";
}
