public RoundTable(MotionController controller)
{
_mc = controller;
Fixtures = new Fixture[6];
for (int i = 0; i < 6; i++)
{
Fixtures[i] = new Fixture();
}
}
public LStation(MotionController controller, VisionServer vision,
RoundTable table, List <CapturePosition> positions, List <CapturePosition> offsets)
{
_mc = controller;
_vision = vision;
_table = table;
_capturePositions = positions;
_capturePositionsOffsets = offsets;
}
public VStation(MotionController controller, VisionServer vision, RoundTable table,
VLoadTrayStation vLoadTrayStation, VUnloadTrayStation vUnloadTrayStation,
List <CapturePosition> positions, List <CapturePosition> offsets)
{
_mc = controller;
_vision = vision;
_table = table;
_loadTrayStation = vLoadTrayStation;
_unloadTrayStation = vUnloadTrayStation;
_capturePositions = positions;
_capturePositionsOffsets = offsets;
}
public GluePointStation(MotionController controller, VisionServer vision,
RoundTable table, CoordinateId id, List <GlueParameter> glueParameters,
List <CapturePosition> positions, List <CapturePosition> offsets,
PressureSensor pressureSensor, LaserSensor laserSensor)
{
_mc = controller;
_coordinateId = id;
_table = table;
_capturePositions = positions;
_capturePositionsOffsets = offsets;
_pressureSensor = pressureSensor;
_laserSensor = laserSensor;
_vision = vision;
_glueParameters = glueParameters;
}
public VUnloadTrayStation(MotionController controller)
{
_mc = controller;
}
public VisionServer(MotionController controller, string ip = "192.168.100.100", int port = 6000)
{
_ip = ip;
_port = port;
Start();
}
public void Setup()
{
LaserSensorGlueLine = new LaserSensor("COM4", 9600, 2);
LaserSensorGluePoint = new LaserSensor("COM3", 9600, 1);
PressureSensorGlueLine = new PressureSensor("COM6", 9600, 2);
PressureSensorGluePoint = new PressureSensor("COM5", 9600, 1);
LaserSensorGluePoint.Start();
LaserSensorGlueLine.Start();
PressureSensorGluePoint.Start();
PressureSensorGlueLine.Start();
Mc = new MotionController();
Mc.Connect();
Mc.Setup();
Mc.ZeroAllPositions();
Vision = new VisionServer(Mc);
WorkTable = new RoundTable(Mc);
WorkTable.Setup();
UVLight = new UVLight(Mc, WorkTable);
LoadCapturePositions();
LoadUserOffsets();
LoadDevelopPoints();
LoadGlueParameters();
LoadUserSettings();
SettingManager = new SettingManager(this);
LRobot = new LStation(Mc, Vision, WorkTable, CapturePositions, UserOffsets);
LRobot.Setup();
VLoadStation = new VLoadTrayStation(Mc);
VLoadStation.Setup();
VUnloadStation = new VUnloadTrayStation(Mc);
VUnloadStation.Setup();
LLoadStation = new LLoadTrayStation(Mc);
LLoadStation.Setup();
LUnloadStation = new LUnloadTrayStation(Mc);
LUnloadStation.Setup();
VRobot = new VStation(Mc, Vision, WorkTable, VLoadStation, VUnloadStation,
CapturePositions, UserOffsets);
VRobot.Setup();
GlueLineRobot = new GlueLineStation(Mc, Vision, WorkTable, CoordinateId.GlueLine,
GlueParameters, CapturePositions, UserOffsets,
PressureSensorGlueLine, LaserSensorGlueLine);
GlueLineRobot.Setup();
GluePointRobot = new GluePointStation(Mc, Vision, WorkTable, CoordinateId.GluePoint,
GlueParameters, CapturePositions, UserOffsets,
PressureSensorGluePoint, LaserSensorGluePoint);
GluePointRobot.Setup();
VRobot.CheckVacuumValue = _checkVacuum;
LRobot.CheckVacuumValue = _checkVacuum;
}
public UVLight(MotionController controller, RoundTable table)
{
_mc = controller;
_table = table;
}