public void fctPlay(NLX.Robot.Kuka.Controller.RobotController rob) { if (listPos.Count() != 0) { // play the list, then empty it rob.PlayTrajectory(listPos); listPos.Clear(); } }
public void changeLocation(NLX.Robot.Kuka.Controller.CartesianPosition currentMouvement) { lastMouvement.A = currentMouvement.A; lastMouvement.B = currentMouvement.B; lastMouvement.C = currentMouvement.C; lastMouvement.X = currentMouvement.X; lastMouvement.Y = currentMouvement.Y; lastMouvement.Z = currentMouvement.Z; NLX.Robot.Kuka.Controller.CartesianPosition posRelRobot = new NLX.Robot.Kuka.Controller.CartesianPosition(); posRelRobot.A = lastMouvement.A * Program.robot.getRotSpeed(); // B posRelRobot.B = lastMouvement.C * Program.robot.getRotSpeed(); // C posRelRobot.C = lastMouvement.B * Program.robot.getRotSpeed(); // A posRelRobot.X = -lastMouvement.Z * Program.robot.getSpeed(); posRelRobot.Y = -lastMouvement.X * Program.robot.getSpeed(); posRelRobot.Z = lastMouvement.Y * Program.robot.getSpeed(); //Console.WriteLine("[" + posRelRobot.A + ":" + posRelRobot.B + ":" + posRelRobot.C + "] [" + posRelRobot.X + ":" + posRelRobot.Y + ":" + posRelRobot.Z + "]"); Program.robot.translateRelative(posRelRobot); }
public void setLocation(NLX.Robot.Kuka.Controller.CartesianPosition val) { this.location = val; }
public void setRobotInfo(bool actif, float speed, float rotSpeed, NLX.Robot.Kuka.Controller.CartesianPosition location) { this.createIHM.setRobotInfo(actif, speed, rotSpeed, location); }
public void readAndInterpretFile2(string path, NLX.Robot.Kuka.Controller.RobotController robot) { Console.WriteLine("in readAndInterpretFile2"); Console.WriteLine("path: " + path); int nbLignesPalette = 4; int nbColonnesPalette = 4; parseFile(path); double xdecx = point1.X - point2.X; double ydecx = point1.Y - point2.Y; double xdecy = point1.X - point3.X; double ydecy = point1.Y - point3.Y; Console.WriteLine("xdecx: " + xdecx); Console.WriteLine("ydecx: " + ydecx); Console.WriteLine("xdecy: " + xdecy); Console.WriteLine("ydecy: " + ydecy); try { //for (int ligne = 0; ligne <= nbLignesPalette; ligne++) for (int colonne = 0; colonne <= nbColonnesPalette; colonne++) { for (int ligne = 0; ligne <= nbLignesPalette; ligne++) //for (int colonne = 0; colonne <= nbColonnesPalette; colonne++) { Console.WriteLine("ligne: " + ligne + ",colonne: " + colonne); if (File.Exists(path)) { using (StreamReader sr = new StreamReader(path)) { double d; //new List<NLX.Robot.Kuka.Controller.CartesianPosition>(); listPos = new List<NLX.Robot.Kuka.Controller.CartesianPosition>(); while (sr.Peek() >= 0) { string str = sr.ReadLine(); if (Double.TryParse(str, out d)) { // NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition(); Console.WriteLine("x: " + d); cpos.X = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("y: " + d); cpos.Y = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("z: " + d); cpos.Z = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("a: " + d); cpos.A = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("b: " + d); cpos.B = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("c: " + d); cpos.C = d; str = sr.ReadLine(); Console.WriteLine(str); Console.WriteLine("robot: " + robot); Console.WriteLine("listPos: " + listPos); listPos.Add(robot.GetCurrentPosition()); // add cpos to the listPos listPos.Add(cpos); fctPlay(robot); } else { // play the list of positions if it's not empty Console.WriteLine("rob: " + robot); Console.WriteLine("listpos: " + listPos); fctPlay(robot); if (str == "open") { // do the open Console.WriteLine("doing open gripper"); robot.OpenGripper(); } else if (str == "close") { Thread.Sleep(1000); // do the close Console.WriteLine("doing close gripper"); robot.CloseGripper(); } else if (str == "p0") { NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition(); str = sr.ReadLine(); Console.WriteLine("str: " + str); Double.TryParse(str, out d); //cpos.X = d + ligne*xdecy + colonne*xdecy; Console.WriteLine("ligne: " + ligne); Console.WriteLine("colonne: " + colonne); cpos.X = d + (-1)*ligne*xdecx + (-1)*colonne*xdecy; str = sr.ReadLine(); Double.TryParse(str, out d); //cpos.Y = d + ligne*ydecx + colonne*ydecy; cpos.Y = d + (-1)*ligne*ydecx + (-1)*colonne*ydecy; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.Z = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.A = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.B = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.C = d; str = sr.ReadLine(); listPos.Add(robot.GetCurrentPosition()); // add cpos to the listPos listPos.Add(cpos); fctPlay(robot); } else if (str == "p1") { NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition(); str = sr.ReadLine(); Double.TryParse(str, out d); //cpos.X = d + ligne * xdecx + colonne * xdecy; cpos.X = d + (-1) * ligne * xdecx + (-1) * colonne * xdecy; str = sr.ReadLine(); Double.TryParse(str, out d); //cpos.Y = d + ligne * ydecx + colonne * ydecy; cpos.Y = d + (-1) * ligne * ydecx + (-1) * colonne * ydecy; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.Z = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.A = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.B = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.C = d; str = sr.ReadLine(); listPos.Add(robot.GetCurrentPosition()); // add cpos to the listPos listPos.Add(cpos); fctPlay(robot); } else if (str == "p2") { NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition(); str = sr.ReadLine(); Double.TryParse(str, out d); cpos.X = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.Y = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.Z = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.A = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.B = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.C = d; str = sr.ReadLine(); } else if (str == "p3") { NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition(); str = sr.ReadLine(); Double.TryParse(str, out d); cpos.X = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.Y = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.Z = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.A = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.B = d; str = sr.ReadLine(); Double.TryParse(str, out d); cpos.C = d; str = sr.ReadLine(); } } } fctPlay(robot); } } else { Console.WriteLine("it doesn't exist"); } } } Console.WriteLine("in readAndInterpretFile"); Console.WriteLine("path: " + path); listPos = new List<NLX.Robot.Kuka.Controller.CartesianPosition>(); } catch (Exception e) { Console.WriteLine("The process failed: {0}", e.ToString()); } }
public void readAndInterpretFile(string path, NLX.Robot.Kuka.Controller.RobotController robot) { Console.WriteLine("in readAndInterpretFile"); Console.WriteLine("path: " + path); listPos = new List<NLX.Robot.Kuka.Controller.CartesianPosition>(); try { if (File.Exists(path)) { using (StreamReader sr = new StreamReader(path)) { double d; new List<NLX.Robot.Kuka.Controller.CartesianPosition>(); while (sr.Peek() >= 0) { string str = sr.ReadLine(); if (Double.TryParse(str, out d)) { // NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition(); Console.WriteLine("x: " + d); cpos.X = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("y: " + d); cpos.Y = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("z: " + d); cpos.Z = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("a: " + d); cpos.A = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("b: " + d); cpos.B = d; str = sr.ReadLine(); Double.TryParse(str, out d); Console.WriteLine("c: " + d); cpos.C = d; str = sr.ReadLine(); Console.WriteLine(str); listPos.Add( robot.GetCurrentPosition() ); // add cpos to the listPos listPos.Add(cpos); fctPlay(robot); } else { // play the list of positions if it's not empty Console.WriteLine("rob: " + robot); Console.WriteLine("listpos: " + listPos); fctPlay(robot); if (str == "open") { // do the open Console.WriteLine("doing open gripper"); robot.OpenGripper(); } else if (str == "close") { Thread.Sleep(1000); // do the close Console.WriteLine("doing close gripper"); robot.CloseGripper(); } } } fctPlay(robot); } } else { Console.WriteLine("it doesn't exist"); } } catch (Exception e) { Console.WriteLine("The process failed: {0}", e.ToString()); } }
public Dictionary<String, Double> transformCartPointToDict(NLX.Robot.Kuka.Controller.CartesianPosition location) { Dictionary<String, Double> pDict = new Dictionary<String, Double>(); pDict.Add("X", location.X); pDict.Add("Y", location.Y); pDict.Add("Z", location.Z); pDict.Add("A", location.A); pDict.Add("B", location.B); pDict.Add("C", location.C); return pDict; }