private void buttonTeach_Click(object sender, EventArgs e)
{
if (DensoControl.Only().Controller.ControllerPointsPVars.ContainsKey(comboBoxPointIndex.Text))
{
DensoControl.Only().Controller.ControllerPointsPVars[comboBoxPointIndex.Text].Value
= DensoControl.Only().Robot.CurPosVar.Value;
MessageBox.Show("Teach " + comboBoxPointIndex.Text + ":" +
DensoControl.GetPString(DensoControl.Only().Robot.CurPosVar));
}
if (DensoControl.Only().Controller.ControllerPointsJVars.ContainsKey(comboBoxJointIndex.Text))
{
DensoControl.Only().Controller.ControllerPointsJVars[comboBoxJointIndex.Text].Value
= DensoControl.Only().Robot.CurAngVar.Value;
MessageBox.Show("Teach " + comboBoxJointIndex.Text + ":" +
DensoControl.GetJString(DensoControl.Only().Robot.CurAngVar));
}
}
private void timerUpdate_Tick(object sender, EventArgs e)
{
#region
//controller status
try
{
textBoxMode.Text = DensoControl.Only().Controller.ControllerCaoVars["@MODE"].Value.ToString();
}
catch (Exception)
{
textBoxMode.Text = "?";
}
try
{
textBoxAutoMode.Text = DensoControl.Only().Controller.ControllerCaoVars["@AUTO_ENABLE"].Value.ToString();
}
catch (Exception)
{
textBoxAutoMode.Text = "?";
}
try
{
textBoxEmgency.Text =
DensoControl.Only().Controller.ControllerCaoVars["@EMERGENCY_STOP"].Value.ToString();
}
catch (Exception)
{
textBoxEmgency.Text = "?";
}
try
{
textBoxNormalStatus.Text =
DensoControl.Only().Controller.ControllerCaoVars["@NORMAL_STATUS"].Value.ToString();
}
catch (Exception)
{
textBoxNormalStatus.Text = "?";
}
try
{
textBoxErrorCode.Text = DensoControl.Only().Controller.ControllerCaoVars["@ERROR_CODE"].Value.ToString();
}
catch (Exception)
{
textBoxErrorCode.Text = "?";
}
try
{
textBoxErrorCodeInfo.Text =
DensoControl.Only().Controller.ControllerCaoVars["@ERROR_DESCRIPTION"].Value.ToString();
}
catch (Exception)
{
textBoxErrorCodeInfo.Text = "?";
}
////robot slave task
//try
//{
// textBoxRobotSlaveTask.Text = DensoControl.Only().RobslaveTask.TaskCaoVars["@STATUS"].Value.ToString();
//}
//catch (Exception)
//{
// textBoxRobotSlaveTask.Text = "?";
//}
//robot status
try
{
textBoxMotorStatus.Text = DensoControl.Only().Robot.RobCaoVars["@SERVO_ON"].Value.ToString();
}
catch (Exception)
{
textBoxMotorStatus.Text = "???";
}
try
{
textBoxBusyStatus.Text = DensoControl.Only().Robot.RobCaoVars["@BUSY_STATUS"].Value.ToString();
}
catch (Exception)
{
textBoxBusyStatus.Text = "???";
}
try
{
// Current Position
textBoxCurPos.Text = DensoControl.GetPString(DensoControl.Only().Robot.RobCaoVars["@CURRENT_POSITION"]);
}
catch (Exception)
{
textBoxCurPos.Text = "P(?,?,?,?,?,?,?)";
}
try
{
// Current Position
textBoxCurAngle.Text = DensoControl.GetJString(DensoControl.Only().Robot.RobCaoVars["@CURRENT_ANGLE"]);
}
catch (Exception)
{
textBoxCurAngle.Text = "J(?,?,?,?,?,?,?)";
}
try
{
// Current Position
textBoxCurTrans.Text = DensoControl.GetTString(DensoControl.Only().Robot.RobCaoVars["@CURRENT_TRANS"]);
}
catch (Exception)
{
textBoxCurTrans.Text = "T(?,?,?,?,?,?,?,?,?,?)";
}
try
{
textBoxWorkStatus.Text = DensoControl.Only().Robot.RobCaoVars["@CURRENT_WORK"].Value.ToString();
}
catch (Exception)
{
textBoxWorkStatus.Text = "???";
}
try
{
textBoxToolStatus.Text = DensoControl.Only().Robot.RobCaoVars["@CURRENT_TOOL"].Value.ToString();
}
catch (Exception)
{
textBoxToolStatus.Text = "???";
}
try
{
textBoxSpeed.Text = DensoControl.Only().Robot.RobCaoVars["@SPEED"].Value.ToString();
}
catch (Exception)
{
textBoxSpeed.Text = "???";
}
try
{
textBoxExtSpeed.Text = DensoControl.Only().Robot.RobCaoVars["@EXTSPEED"].Value.ToString();
}
catch (Exception)
{
textBoxExtSpeed.Text = "???";
}
#endregion
var sts = DensoControl.Only().ControllerStatus;
for (var i = 0; i < sts.Count; i++)
{
dataGridViewController.Rows[i].Cells[1].Value = sts[i];
}
var sts1 = DensoControl.Only().RobotStatus;
for (var i = 0; i < sts1.Count; i++)
{
dataGridViewRobot.Rows[i].Cells[1].Value = sts1[i];
}
if (timerIndex++ > 5)
{
timerIndex = 0;
for (var i = 0; i < DensoControl.Only().Controller.ControllerPointsPVars.Count; i++)
{
var str = DensoControl.GetPString(DensoControl.Only().Controller.ControllerPointsPVars["P" + i]);
dataGridViewPointsP.Rows[i].Cells[1].Value = str;
}
for (var i = 0; i < DensoControl.Only().Controller.ControllerPointsJVars.Count; i++)
{
var str = DensoControl.GetJString(DensoControl.Only().Controller.ControllerPointsJVars["J" + i]);
dataGridViewPointsJ.Rows[i].Cells[1].Value = str;
}
}
//List<string> sts2 = DensoControl.Only().RobslaveTaskStatus;
//for (int i = 0; i < sts2.Count; i++)
//{
// dataGridViewTask.Rows[i].Cells[1].Value = sts2[i];
//}
}
public void DefTool(int index, float[] p)
{
Execute("DefTool", "1", DensoControl.GetPString(p));
}