예제 #1
0
        private readonly cVision vision; //接收视觉结果

        public void ConectToVision()
        {
            string notes;

            vision.initRcv();
            RcvThread = new Thread(new ThreadStart(delegate
            {
                while (true)
                {
                    vision.ReciveData();
                    notes = " X  = " + vision.hitPar[1].ToString() +
                            "\n Y  = " + vision.hitPar[2].ToString() +
                            "\n Z  = " + vision.hitPar[3].ToString() +
                            "\n Vx = " + vision.hitPar[4].ToString() +
                            "\n Vy = " + vision.hitPar[5].ToString() +
                            "\n Vz = " + vision.hitPar[6].ToString() +
                            "\n tg = " + vision.hitPar[12].ToString();
                    if (vision.hitPar[0] == 1)
                    {
                        double[] padPar;
                        SlovePadPram(vision.hitPar, out padPar);
                        notes += "\n PadV = " + padPar[3].ToString() +
                                 "\n PadS = " + padPar[4].ToString();
                        SetNotes(notes);


                        Control_Arm.Recv4Vision(vision.hitPar);
                        ZSPCt.SetZSP((int)vision.hitPar[3], (int)(padPar[4]), 127);
                    }
                    Thread.Sleep(50);
                }
            }
                                                   ));
            RcvThread.Start();
        }
예제 #2
0
        private readonly cVision vision; //接收视觉结果


        public bool ConectToVision()
        {
            string notes;

            if (vision.initRcv())
            {
                RcvThread = new Thread(new ThreadStart(delegate
                {
                    while (true)
                    {
                        vision.ReciveData();
                        notes = " X  = " + vision.hitPar[1].ToString("#0.0") + "         Vx  = " + vision.hitPar[4].ToString("#0.0") +
                                "\n Y  = " + vision.hitPar[2].ToString("#0.0") + "         Vy  = " + vision.hitPar[5].ToString("#0.0") +
                                "\n Z  = " + vision.hitPar[3].ToString("#0.0") + "         Vz  = " + vision.hitPar[6].ToString("#0.0") +
                                "\n tg = " + vision.hitPar[12].ToString("#0.0");
                        //    if (vision.hitPar[0] == 1)
                        //    {
                        double[] padPar;
                        SlovePadPram(vision.hitPar, out padPar);
                        notes += "\n PadV = " + padPar[4].ToString("#0.0") +
                                 "\n PadS = " + padPar[5].ToString("#0.0");
                        SetNotes(notes);

                        //if (vision.hitPar[12] >0.01)
                        Control_Arm.Recv4Vision(padPar);
                        //     }
                        //Thread.Sleep(10);
                    }
                }
                                                       ));
                RcvThread.Start();

                //ZspThread = new Thread(new ThreadStart(delegate
                //    {
                //        while(true)
                //        {
                //            if (!Control_Arm.flag_isMoving)
                //            {
                //                Control_Arm.HomeZsp();
                //            }
                //            Thread.Sleep(10);
                //        }
                //    }
                // ));
                //ZspThread.Start();
                return(true);
            }
            return(false);
        }