private void buttonRobotProgramPositionAdd_Click(object sender, RoutedEventArgs e)
{
Robot robot = new Robot();
if (controlRobot.Value == 1)
robot = roboteam.Robot1;
else if (controlRobot.Value == 2)
robot = roboteam.Robot2;
Routine.Command command = new Routine.Command(Routine.Task.PTP, new IRob.Geometry.Position(0, 0, 0, 0, 0, 0));
if (selecetedCommand != -1)
{
robot.Program.InsertCommand(selecetedCommand, command);
ViewRobotProgramPosition(robot);
}
else
{
robot.Program.AddCommand(command);
selecetedCommand = robot.Program.Commands.Count() - 1;
ViewRobotProgramPosition(robot);
}
}
private void buttonRobotProgramPositionConfirm_Click(object sender, RoutedEventArgs e)
{
int taskIndex = comboBoxRobotProgramTask.SelectedIndex;
Routine.Command command = new Routine.Command((Routine.Task)taskIndex, new IRob.Geometry.Position(controlProgramX.Value, controlProgramY.Value, controlProgramZ.Value, controlProgramA.Value, controlProgramB.Value, controlProgramC.Value));
if (controlRobot.Value == 1)
{
roboteam.Robot1.Program.RemoveCommand(selecetedCommand);
roboteam.Robot1.Program.InsertCommand(selecetedCommand, command);
}
else if (controlRobot.Value == 2)
{
roboteam.Robot2.Program.RemoveCommand(selecetedCommand);
roboteam.Robot2.Program.InsertCommand(selecetedCommand, command);
}
selecetedCommand = -1;
}