/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
int ret = DobotDll.ConnectDobot("", 115200);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Console.WriteLine("Connect error", MsgInfoType.Error);
return;
}
Console.WriteLine("Connect success", MsgInfoType.Info);
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
DobotDll.ResetPose(true, 45, 45);
UInt64 cmdIndex = 0;
JOGJointParams jsParam;
jsParam.velocity = new float[] { 200, 200, 200, 200 };
jsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetJOGJointParams(ref jsParam, false, ref cmdIndex);
JOGCommonParams jdParam;
jdParam.velocityRatio = 100;
jdParam.accelerationRatio = 100;
DobotDll.SetJOGCommonParams(ref jdParam, false, ref cmdIndex);
PTPJointParams pbsParam;
pbsParam.velocity = new float[] { 200, 200, 200, 200 };
pbsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetPTPJointParams(ref pbsParam, false, ref cmdIndex);
PTPCoordinateParams cpbsParam;
cpbsParam.xyzVelocity = 100;
cpbsParam.xyzAcceleration = 100;
cpbsParam.rVelocity = 100;
cpbsParam.rAcceleration = 100;
DobotDll.SetPTPCoordinateParams(ref cpbsParam, false, ref cmdIndex);
PTPJumpParams pjp;
pjp.jumpHeight = 20;
pjp.zLimit = 100;
DobotDll.SetPTPJumpParams(ref pjp, false, ref cmdIndex);
PTPCommonParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPTPCommonParams(ref pbdParam, false, ref cmdIndex);
}
/// <summary>
/// 初期パラメータ設定
/// </summary>
private void SetParam()
{
UInt64 cmdIndex = 0;
JOGJointParams jsParam;
jsParam.velocity = new float[] { 200, 200, 200, 200 };
jsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetJOGJointParams(ref jsParam, false, ref cmdIndex);
JOGCommonParams jdParam;
jdParam.velocityRatio = 100;
jdParam.accelerationRatio = 100;
DobotDll.SetJOGCommonParams(ref jdParam, false, ref cmdIndex);
PTPJointParams pbsParam;
pbsParam.velocity = new float[] { 200, 200, 200, 200 };
pbsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetPTPJointParams(ref pbsParam, false, ref cmdIndex);
PTPCoordinateParams cpbsParam;
cpbsParam.xyzVelocity = 100;
cpbsParam.xyzAcceleration = 100;
cpbsParam.rVelocity = 100;
cpbsParam.rAcceleration = 100;
DobotDll.SetPTPCoordinateParams(ref cpbsParam, false, ref cmdIndex);
PTPJumpParams pjp;
pjp.jumpHeight = 20;
pjp.zLimit = 100;
DobotDll.SetPTPJumpParams(ref pjp, false, ref cmdIndex);
PTPCommonParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPTPCommonParams(ref pbdParam, false, ref cmdIndex);
}
/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
int ret = DobotDll.ConnectDobot("", 115200);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Msg("Connect error", MsgInfoType.Error);
return;
}
Msg("Connect success", MsgInfoType.Info);
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
DobotDll.ResetPose(true, 45, 45);
// Get name
string deviceName = "Dobot Magician";
DobotDll.SetDeviceName(deviceName);
StringBuilder deviceSN = new StringBuilder(64);
DobotDll.GetDeviceName(deviceSN, 64);
UInt64 cmdIndex = 0;
JOGJointParams jsParam;
jsParam.velocity = new float[] { 200, 200, 200, 200 };
jsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetJOGJointParams(ref jsParam, false, ref cmdIndex);
JOGCommonParams jdParam;
jdParam.velocityRatio = 100;
jdParam.accelerationRatio = 100;
DobotDll.SetJOGCommonParams(ref jdParam, false, ref cmdIndex);
PTPJointParams pbsParam;
pbsParam.velocity = new float[] { 200, 200, 200, 200 };
pbsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetPTPJointParams(ref pbsParam, false, ref cmdIndex);
PTPCoordinateParams cpbsParam;
cpbsParam.xyzVelocity = 100;
cpbsParam.xyzAcceleration = 100;
cpbsParam.rVelocity = 100;
cpbsParam.rAcceleration = 100;
DobotDll.SetPTPCoordinateParams(ref cpbsParam, false, ref cmdIndex);
PTPJumpParams pjp;
pjp.jumpHeight = 20;
pjp.zLimit = 100;
DobotDll.SetPTPJumpParams(ref pjp, false, ref cmdIndex);
PTPCommonParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPTPCommonParams(ref pbdParam, false, ref cmdIndex);
//EIO
IOMultiplexing iom;
iom.address = 2; //io index
iom.multiplex = (byte)IOFunction.IOFunctionDO; // ioType
DobotDll.SetIOMultiplexing(ref iom, false, ref cmdIndex);
IODO iod;
iod.address = 2;
iod.level = 1; // set io index 2 to open
DobotDll.SetIODO(ref iod, false, ref cmdIndex);
// arc
//ptp((byte)1, 67.99f, 216.4f, -27.99f, 0);
//arc(154.92f, 182.41f, -62.89f, 0f, 216.07f, 85.54f, -8.34f, 0f);
}
private void dobotStuff()
{
PTPJointParams ptpParams;
ptpParams.acceleration = new float[4] {
200, 200, 200, 200
};
ptpParams.velocity = new float[4] {
200, 200, 200, 200
};
PTPCoordinateParams ptpCParams;
ptpCParams.rAcceleration = 200;
ptpCParams.rVelocity = 200;
ptpCParams.xyzAcceleration = 200;
ptpCParams.xyzVelocity = 200;
PTPJumpParams ptpJParams;
ptpJParams.jumpHeight = 10;
ptpJParams.zLimit = 200;
PTPCommonParams ptpCmParams;
ptpCmParams.accelerationRatio = 100;
ptpCmParams.velocityRatio = 100;
WAITCmd wait;
wait.timeout = 2000;
UInt64 cmdIndex = 0;
HOMECmd hmcmd = new HOMECmd();
DobotDll.SetHOMECmd(ref hmcmd, false, ref cmdIndex);
System.Threading.Thread.Sleep(20000);
Pose pose = new Pose();
DobotDll.GetPose(ref pose);
Console.WriteLine(pose.x + ", " + pose.y + ", " + pose.z);
DobotDll.SetPTPJointParams(ref ptpParams, false, ref cmdIndex);
DobotDll.SetPTPCoordinateParams(ref ptpCParams, false, ref cmdIndex);
DobotDll.SetPTPJumpParams(ref ptpJParams, false, ref cmdIndex);
DobotDll.SetPTPCommonParams(ref ptpCmParams, false, ref cmdIndex);
pickNewCard(cmdIndex, wait);
placeCard(290, playerCards * cardDistance, cmdIndex);
playerCards++;
pickNewCard(cmdIndex, wait);
placeCard(200, dealerCards * cardDistance, cmdIndex);
dealerCards++;
pickNewCard(cmdIndex, wait);
placeCard(290, playerCards * cardDistance, cmdIndex);
playerCards++;
}