public void MovePosition(float goal_x, float goal_y, float goal_z, float rotation, float speed, float acceleration, int interpolation, int move_mode)
{
int ret = robot1.set_position_move(goal_x, goal_y, goal_z, rotation, speed, acceleration, interpolation, move_mode);
if (ret != 1)
{
DisplayMessage(robot1.get_card_num().ToString() + "调用set_position_move失败，返回值 = " + ret.ToString());
}
}
private async void circleButton_Click(object sender, EventArgs e)
{
if (!looping3)
{
if (task3 != null)
{
// Wait for any existing task to end.
await task3;
}
SetManualControls(false);
looping3 = true;
cancellationSource3 = new CancellationTokenSource();
debugTextbox.AppendText("Circle started\r\n");
task3 = Task.Factory.StartNew(async(cancellationToken) =>
{
CancellationToken token = (CancellationToken)cancellationToken;
int[][] coords = new int[][]
{
// x, y, z, rotation, speed, accel, interpolation, move mode
new int[] { 50, -50, zAxisHeight, wristAngleDeg, angularSpeed, 50, 1, 2 },
new int[] { 50, -100, zAxisHeight, wristAngleDeg, angularSpeed, 50, 1, 2 },
new int[] { 100, -100, zAxisHeight, wristAngleDeg, angularSpeed, 50, 1, 2 },
new int[] { 100, -50, zAxisHeight, wristAngleDeg, angularSpeed, 50, 1, 2 },
};
while (true)
{
foreach (int[] coord in coords)
{
robot.set_position_move(coord[0], coord[1], coord[2], coord[3], coord[4], coord[5], coord[6], coord[7]);
while (!robot.is_robot_goto_target())
{
if (token.IsCancellationRequested)
{
return;
}
robot.get_scara_param();
SetTrackbar(wristTrackbar, wristTextbox, (int)robot.rotation);
SetTrackbar(elbowTrackbar, elbowTextbox, (int)robot.angle2);
SetTrackbar(shoulderTrackBar, shoulderTextbox, (int)robot.angle1);
SetTrackbar(zAxisTrackbar, zAxisTextbox, (int)robot.z);
await Task.Delay(50);
}
}
}
}, cancellationSource3.Token);
}
else
{
looping3 = false;
cancellationSource3.Cancel(false);
debugTextbox.AppendText("Circling stopped\r\n");
SetManualControls(true);
}
}