// control event handle
private void OnEvent(object sender, MouseButtonEventArgs e)
{
if (!isConnectted)
{
return;
}
UInt64 cmdIndex = 0;
Button obj = (Button)sender;
String con = obj.Content.ToString();
switch (con)
{
case "X+":
case "Joint1+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogAPPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "X-":
case "Joint1-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogANPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "Y+":
case "Joint2+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogBPPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "Y-":
case "Joint2-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogBNPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "Z+":
case "Joint3+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogCPPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "Z-":
case "Joint3-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogCNPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "R+":
case "Joint4+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogDPPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "R-":
case "Joint4-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? (byte)JogCmdType.JogDNPressed : (byte)JogCmdType.JogIdle;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "Gripper+":
{
}
break;
case "Gripper-":
{
}
break;
default:
break;
}
}