public void StopProcess()
{
// fillfromstring2 allows us to pass a varable to rapid data
processFlag.FillFromString2(SHUT_DOWN.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_start.Value = processFlag;
}
}
public void StopProcess()
{
//repeatBool.FillFromString2("FALSE");
processFlag.FillFromString2(SHUT_DOWN.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
//rd_repeat.Value = repeatBool;
rd_start.Value = processFlag;
}
}
public void SetPath(List <BrushStatus> nativTargets, ProgressBar pb)
{
if (nativTargets.Count > maxLength)
{
targetsNum = maxLength;
}
else
{
targetsNum = nativTargets.Count;
}
rd_tgNumValue.FillFromString2(targetsNum.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targetsNum.Value = rd_tgNumValue;
}
Pos rt;
for (int i = 0; i < targetsNum; i++)
{
rt = new Pos();
rt.FillFromString2("[" + nativTargets[i].X + "," + nativTargets[i].Y + "," + nativTargets[i].Z + "]");
Debug.WriteLine(rt.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targets.WriteItem(rt, i);
}
pb.Increment(1);
}
pb.Value = 0;
}
public void SetDrawingSpeed(int level)
{
speedLevel.FillFromString2(level.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_speedLevel.Value = speedLevel;
}
}
private void RobotSettings_Click(object sender, RoutedEventArgs e)
{
//Send to robot controller speed and zone values and then start robot program
using (Mastership m = Mastership.Request(controller.Rapid))
{
programStart.FillFromString2("1");
rdProgramStart.Value = programStart;
rdZone.Value = robotZone;
rdSpeed.Value = robotSpeed;
tasks[0].ResetProgramPointer();
tasks[1].ResetProgramPointer();
tasks[0].SetProgramPointer("Module1", "main");
tasks[1].SetProgramPointer("Listening", "main");
controller.Rapid.Start();
}
robotControl = true;
}
private void CbSpeed_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
robotSpeed.FillFromString2(cbSpeed.SelectedValue.ToString());
}
// 2 methods below change string data to proper robot controller format data
private void CbZone_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
robotZone.FillFromString2(cbZone.SelectedValue.ToString());
}
