public void CalculateG1ToG2Offset(TeachPos selectedTeachPos)
{
double XPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos));
double YPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos));
double APos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos));
double xOffset = Motion.GetPositionX() - XPos;
double yOffset = Motion.GetPosition(Motion.MotorY) - YPos;
double aOffset = Steppers.GetPosition(RackGripper.Two) - APos;
if (Math.Abs(xOffset) > 5 | Math.Abs(yOffset) > 5 | Math.Abs(aOffset) > 5)
{
throw new Exception("CalculateG1ToG2Offset offset over 5.");
}
XmlReaderWriter.SetTeachAttribute(Files.RackData, TeachPos.G1ToG2Offset, PosItem.XPos,
xOffset.ToString(CultureInfo.CurrentCulture));
XmlReaderWriter.SetTeachAttribute(Files.RackData, TeachPos.G1ToG2Offset, PosItem.YPos,
yOffset.ToString(CultureInfo.CurrentCulture));
XmlReaderWriter.SetTeachAttribute(Files.RackData, TeachPos.G1ToG2Offset, PosItem.APos,
aOffset.ToString(CultureInfo.CurrentCulture));
}
public void SaveTeachPosition(TeachPos selectedTeachPos)
{
TargetPosition target = new TargetPosition()
{
XPos = Motion.GetPositionX(),
YPos = Motion.GetPosition(Motion.MotorY),
ZPos = Motion.GetPosition(Motion.MotorZ),
RPos = Motion.GetPosition(Motion.MotorR),
APos = Steppers.GetPosition(RackGripper.One)
};
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos,
target.XPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos,
target.YPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos,
target.ZPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.RPos,
target.RPos.ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos,
target.APos.ToString());
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos) !=
target.XPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos) !=
target.YPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos) !=
target.ZPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.RPos) !=
target.RPos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
if (XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos) !=
target.APos.ToString())
{
throw new Exception("SaveTeachPosition fail.");
}
}
public void SaveApproachHeight(TeachPos selectedTeachPos)
{
double zPos = Convert.ToDouble(XmlReaderWriter.GetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos));
if (Motion.GetPosition(Motion.MotorZ) < zPos + 30)
{
throw new Exception("Approach is less than ZPos + 30.");
}
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ApproachHeight,
Motion.GetPosition(Motion.MotorZ).ToString(CultureInfo.CurrentCulture));
}
private void ShieldBoxSetup()
{
if (_shieldBoxInstanced == false)
{
ShieldBox1 = new ShieldBox(1);
ShieldBox2 = new ShieldBox(2);
ShieldBox3 = new ShieldBox(3);
ShieldBox4 = new ShieldBox(4);
ShieldBox5 = new ShieldBox(5);
ShieldBox6 = new ShieldBox(6);
ShieldBox1.Position = Motion.ShieldBox1;
ShieldBox2.Position = Motion.ShieldBox2;
ShieldBox3.Position = Motion.ShieldBox3;
ShieldBox4.Position = Motion.ShieldBox4;
ShieldBox5.Position = Motion.ShieldBox5;
ShieldBox6.Position = Motion.ShieldBox6;
ShieldBoxs = new ShieldBox[6] {
ShieldBox1, ShieldBox2, ShieldBox3, ShieldBox4, ShieldBox5, ShieldBox6
};
_shieldBoxInstanced = true;
}
foreach (var box in ShieldBoxs)
{
box.PortName = XmlReaderWriter.GetBoxAttribute(Files.BoxData, box.Id, ShieldBoxItem.COM);
box.Enabled = XmlReaderWriter.GetBoxAttribute(Files.BoxData, box.Id, ShieldBoxItem.State) == "Enable";
if (!Enum.TryParse(XmlReaderWriter.GetBoxAttribute(Files.BoxData, box.Id, ShieldBoxItem.Type), out ShieldBoxType type))
{
throw new Exception("ShieldBoxSetup fail due to box type convert failure");
}
box.Type = type;
if (box.Enabled)
{
try
{
box.Start();
box.GreenLight();
box.ErrorOccured -= Box_ErrorOccured;
box.ErrorOccured += Box_ErrorOccured;
}
catch (Exception e)
{
throw new Exception("Box " + box.Id + " is enabled but can't communicate: " + e.Message);
}
}
}
}
public void SaveTeachPosition(TeachPos selectedTeachPos)
{
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.XPos,
_motion.GetPositionX().ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.YPos,
_motion.GetPosition(_motion.MotorY).ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ZPos,
_motion.GetPosition(_motion.MotorZ).ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.RPos,
_motion.GetPosition(_motion.MotorR).ToString());
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.APos,
_motion.GetPosition(_motion.MotorR) > 0
? _gripper.GetPosition(Gripper.One).ToString()
: _gripper.GetPosition(Gripper.Two).ToString());
}
private TargetPosition LoadPosition(TeachPos pos, TeachPos id)
{
TargetPosition target = new TargetPosition
{
TeachPos = id,
XPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.XPos)),
YPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.YPos)),
ZPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.ZPos)),
RPos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.RPos)),
APos = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.APos)),
ApproachHeight = Convert.ToDouble(
XmlReaderWriter.GetTeachAttribute(Files.RackData, pos, PosItem.ApproachHeight))
};
return(target);
}
public void SaveApproachHeight(TeachPos selectedTeachPos)
{
XmlReaderWriter.SetTeachAttribute(Files.RackData, selectedTeachPos, PosItem.ApproachHeight,
_motion.GetPosition(_motion.MotorZ).ToString());
}
