public void Move()
{
Console.WriteLine("即将开始直线运动，距离：301mm");
Thread.Sleep(3000);
JKTYPE.CartesianPose movepose = new JKTYPE.CartesianPose(); //目标点在tcp坐标系下的位姿
movepose.tran.x = 301;
jakaAPI.linear_move(ref i, ref movepose, JKTYPE.MoveMode.INCR, true, 30);
}
public void Move0()
{
Console.WriteLine("即将开始直线运动，距离：301mm");
Thread.Sleep(3000);
JKTYPE.CartesianPose movepose = new JKTYPE.CartesianPose(); //目标点在tcp坐标系下的位姿
for (int i = 0; i < 10001; i++)
{
movepose.tran.z = 100;
jakaAPI.linear_move(ref i, ref movepose, JKTYPE.MoveMode.INCR, true, 90);
movepose.tran.z = -100;
jakaAPI.linear_move(ref i, ref movepose, JKTYPE.MoveMode.INCR, true, 90);
}
}
private void DoSomething(JKTYPE.CartesianPose Position)
{
Console.WriteLine("{0}", Position.tran.x);
//判断位置是否到达
if (Position.tran.x - last > 10 || Position.tran.x - last < -10)
{
last = TcpPosition.tran.x;
Console.WriteLine("############触发{0}##############", num);
jakaAPI.set_digital_output(ref i, JKTYPE.IOType.IO_CABINET, 1, true); //设置电控柜数字输出1为高电平
Thread.Sleep(10); //等待10ms
jakaAPI.set_digital_output(ref i, JKTYPE.IOType.IO_CABINET, 1, false); //设置电控柜数字输出1为低电平
jakaAPI.set_analog_output(ref i, JKTYPE.IOType.IO_CABINET, 1, 65535); //设置电控柜模拟输出1为65535
Thread.Sleep(10); //等待10ms
jakaAPI.set_analog_output(ref i, JKTYPE.IOType.IO_CABINET, 1, 0); //设置电控柜数字输出1为0
num++;
}
}
public void csvrun()
{
JKTYPE.JointValue home_pos = new JKTYPE.JointValue();
home_pos.jVal = new double[] { 1.18, 1.85, -2.49, 2.76, 1.70, 0.50 };
DataTable cvD1 = CSVFileHelper.ReadCSV("qwe.csv");
int i = 0;
int a;
a = jakaAPI.create_handler("192.168.2.18".ToCharArray(), ref i); //替换自己的ip
Console.WriteLine($"机器人控制句柄{i}创建: {a}");
jakaAPI.power_on(ref i); //机器人上电
jakaAPI.enable_robot(ref i); //机器人上使能
jakaAPI.set_rapidrate(ref i, 1); //设置机器人运行倍率
Console.WriteLine("home");
jakaAPI.joint_move(ref i, ref home_pos, JKTYPE.MoveMode.ABS, true, 0.5);
foreach (DataRow dr in cvD1.Rows)
{
int b;
JKTYPE.CartesianPose pose = new JKTYPE.CartesianPose();
pose.tran.x = double.Parse(dr[0].ToString());
pose.tran.y = double.Parse(dr[1].ToString());
pose.tran.z = 200.0;
pose.rpy.rx = 3.14;
pose.rpy.ry = 0;
pose.rpy.rz = 0;
Console.WriteLine(pose.tran.x);
Console.WriteLine(pose.tran.y);
JKTYPE.OptionalCond jc = new JKTYPE.OptionalCond();
b = jakaAPI.linear_move_extend(ref i, ref pose, JKTYPE.MoveMode.ABS, false, 50, 100, 1, ref jc);
Console.WriteLine(b);
Console.WriteLine(pose.tran.x.GetType().Name);
}
}
public static extern int circular_move(ref int i, ref JKTYPE.CartesianPose end_pos, ref JKTYPE.CartesianPose mid_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed, double acc, double tol, ref JKTYPE.OptionalCond option_cond);
public static extern int linear_move_extend(ref int i, ref JKTYPE.CartesianPose cart_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed, double acc, double tol, ref JKTYPE.OptionalCond option_cond);
public static extern int kine_forward(ref int handle, ref JKTYPE.JointValue joint_pos, ref JKTYPE.CartesianPose cartesian_pose);
public static extern int kine_inverse(ref int handle, ref JKTYPE.JointValue ref_pos, ref JKTYPE.CartesianPose cartesian_pose, ref JKTYPE.JointValue joint_pos);
public static extern int get_tcp_position(ref int handle, ref JKTYPE.CartesianPose tcp_position);
public static extern int set_user_frame_data(ref int handle, int id, ref JKTYPE.CartesianPose user_frame, char[] name);
public static extern int set_tool_data(ref int handle, int id, ref JKTYPE.CartesianPose tcp, char[] name);
public static extern int servo_p(ref int handle, ref JKTYPE.CartesianPose cartesian_pose, JKTYPE.MoveMode move_mode);
public static extern int linear_move(ref int handle, ref JKTYPE.CartesianPose end_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed);