private void button10_Click(object sender, EventArgs e)
{
if (aRTClient.Status == RTClientStatus.Syncing)
{
aRTClient.sendScript(textBox6.Text);
}
}
public void BtnLeftMove(int index)
{
for (int i = 0; i < 6; i++)
{
pd[i] = 0;
}
pd[index] = -10.0f / 180 * PI;
string strPD = "[";
for (int i = 0; i < 5; i++)
{
strPD += (Convert.ToString(pd[i]) + ",");
}
strPD += (Convert.ToString(pd[5]) + "]");
aRTClient.sendScript("speedj(" + strPD + ",0.5,100)"); //发送脚本给机器人；
Console.WriteLine("speedj(" + strPD + ",0.5,2)");
}
private void addButton_Click(object sender, RoutedEventArgs e)
{
if (selectedAxis == "")
{
MessageBox.Show("请先选择需要进行的操作！", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
}
else
{
switch (selectedAxis)
{
case "A1":
//MainWindow.myRobotData.a1Value = MainWindow.myRobotData.a1Value + 0.1;
String actionStr = "movej([d2r(" + (MainWindow.myRobotData.a1Value + 10) + "),"
+ "d2r(" + MainWindow.myRobotData.a2Value + "),"
+ "d2r(" + MainWindow.myRobotData.a3Value + "),"
+ "d2r(" + MainWindow.myRobotData.a4Value + "),"
+ "d2r(" + MainWindow.myRobotData.a5Value + "),"
+ "d2r(" + MainWindow.myRobotData.a6Value + ")"
+ "], a = 0.1, v = 0.1)";
aRTClient.sendScript(actionStr);
break;
case "A2":
//MainWindow.myRobotData.a2Value = MainWindow.myRobotData.a2Value + 0.1;
actionStr = "movej([d2r(" + MainWindow.myRobotData.a1Value + "),"
+ "d2r(" + (MainWindow.myRobotData.a2Value + 10) + "),"
+ "d2r(" + MainWindow.myRobotData.a3Value + "),"
+ "d2r(" + MainWindow.myRobotData.a4Value + "),"
+ "d2r(" + MainWindow.myRobotData.a5Value + "),"
+ "d2r(" + MainWindow.myRobotData.a6Value + ")"
+ "], a = 0.1, v = 0.1)";
aRTClient.sendScript(actionStr);
break;
case "A3":
//MainWindow.myRobotData.a3Value = MainWindow.myRobotData.a3Value + 0.1;
actionStr = "movej([d2r(" + MainWindow.myRobotData.a1Value + "),"
+ "d2r(" + MainWindow.myRobotData.a2Value + "),"
+ "d2r(" + (MainWindow.myRobotData.a3Value + 10) + "),"
+ "d2r(" + MainWindow.myRobotData.a4Value + "),"
+ "d2r(" + MainWindow.myRobotData.a5Value + "),"
+ "d2r(" + MainWindow.myRobotData.a6Value + ")"
+ "], a = 0.1, v = 0.1)";
aRTClient.sendScript(actionStr);
break;
case "A4":
//MainWindow.myRobotData.a4Value = MainWindow.myRobotData.a4Value + 0.1;
actionStr = "movej([d2r(" + MainWindow.myRobotData.a1Value + "),"
+ "d2r(" + MainWindow.myRobotData.a2Value + "),"
+ "d2r(" + MainWindow.myRobotData.a3Value + "),"
+ "d2r(" + (MainWindow.myRobotData.a4Value + 10) + "),"
+ "d2r(" + MainWindow.myRobotData.a5Value + "),"
+ "d2r(" + MainWindow.myRobotData.a6Value + ")"
+ "], a = 0.1, v = 0.1)";
aRTClient.sendScript(actionStr);
break;
case "A5":
//MainWindow.myRobotData.a5Value = MainWindow.myRobotData.a5Value + 0.1;
actionStr = "movej([d2r(" + MainWindow.myRobotData.a1Value + "),"
+ "d2r(" + MainWindow.myRobotData.a2Value + "),"
+ "d2r(" + MainWindow.myRobotData.a3Value + "),"
+ "d2r(" + MainWindow.myRobotData.a4Value + "),"
+ "d2r(" + (MainWindow.myRobotData.a5Value + 10) + "),"
+ "d2r(" + MainWindow.myRobotData.a6Value + ")"
+ "], a = 0.1, v = 0.1)";
aRTClient.sendScript(actionStr);
break;
case "A6":
//MainWindow.myRobotData.a6Value = MainWindow.myRobotData.a6Value + 0.1;
actionStr = "movej([d2r(" + MainWindow.myRobotData.a1Value + "),"
+ "d2r(" + MainWindow.myRobotData.a2Value + "),"
+ "d2r(" + MainWindow.myRobotData.a3Value + "),"
+ "d2r(" + MainWindow.myRobotData.a4Value + "),"
+ "d2r(" + MainWindow.myRobotData.a5Value + "),"
+ "d2r(" + (MainWindow.myRobotData.a6Value + 10) + ")"
+ "], a = 0.1, v = 0.1)";
aRTClient.sendScript(actionStr);
break;
case "F":
if (MainWindow.myRobotData.fixtureProgress < 100)
{
MainWindow.myRobotData.fixtureProgress = MainWindow.myRobotData.fixtureProgress + 1;
}
else
{
MessageBox.Show("已经张开至最大值", "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
}
break;
case "P":
if (MainWindow.myRobotData.pawProgress < 100)
{
MainWindow.myRobotData.pawProgress = MainWindow.myRobotData.pawProgress + 1;
}
else
{
MessageBox.Show("已经张开至最大值", "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
}
break;
}
}
}