public static subactInfo Stir(Objects toCup)
{
subactInfo rtn = new subactInfo();
URCoordinates up = new URCoordinates(toCup.gripPos());
up.X -= 0.015f;
up.Z += 0.015f;
up.Y -= 0.06f;//上升
URCoordinates now = new URCoordinates(up);
rtn.infotxt.Add("pmovej");
rtn.infotxt.Add(up.ToPos());
now.Y += 0.05f;//下去
now.X -= 0.01f;
rtn.infotxt.Add(now.ToPos());
now.X += 0.01f;
now.Z += 0.01f;
rtn.infotxt.Add(now.ToPos());
now.X += 0.01f;
now.Z -= 0.01f;
rtn.infotxt.Add(now.ToPos());
now.X -= 0.01f;
now.Z -= 0.01f;
rtn.infotxt.Add(now.ToPos());
now.X -= 0.01f;
now.Z += 0.01f;
rtn.infotxt.Add(now.ToPos());
rtn.infotxt.Add(up.ToPos());
return(rtn);
}
public static subactInfo Pick(Objects cup)
{
subactInfo rtn = new subactInfo();
URCoordinates grip = new URCoordinates(cup.gripPos());
URCoordinates up = new URCoordinates(grip);
up.Y -= 0.1f;
URCoordinates debug = new URCoordinates(up);
debug.Y -= 0.02f;//在高一點以Rxyz有問題
rtn.infotxt.Add("position");
rtn.infotxt.Add(debug.ToPos());
rtn.infotxt.Add(up.ToPos());
rtn.infotxt.Add("gripper");
rtn.infotxt.Add("0");
rtn.infotxt.Add("sleep");
rtn.infotxt.Add("1000");
rtn.infotxt.Add("position");
rtn.infotxt.Add(grip.ToPos());
rtn.infotxt.Add("gripper");
rtn.infotxt.Add("31");
rtn.infotxt.Add("sleep");
rtn.infotxt.Add("1000");
rtn.infotxt.Add("position");
rtn.infotxt.Add(up.ToPos());
return(rtn);
}
public static subactInfo AddaSpoon(Objects toCup)
{
subactInfo rtn = new subactInfo();
URCoordinates up = new URCoordinates(toCup.gripPos());
up.Rx = 2.2f;
up.Ry = -2.2f;
up.Rz = 0;
up.X -= 0.09f;
up.Z += 0.02f;
up.Y += 0.03f;//下降
URCoordinates upper = new URCoordinates(up);
upper.Y -= 0.07f;//上
rtn.infotxt.Add("pmovej");
rtn.infotxt.Add(upper.ToPos());
URCoordinates add = new URCoordinates(up);
add.Rx = 3.14f;
add.Ry = 0f;
add.Rz = 0f;
add.Y -= 0.09f;//上升
add.X += 0.05f;
rtn.infotxt.Add("pmovej");
rtn.infotxt.Add(up.ToPos());
rtn.infotxt.Add("pmovej");
rtn.infotxt.Add(add.ToPos());
rtn.infotxt.Add("pmovej");
add.Y -= 0.03f;//上升
rtn.infotxt.Add(add.ToPos());
return(rtn);
}
public static subactInfo PutBoxIn()
{
subactInfo rtn = new subactInfo();
rtn.AddFile("Path//putBoxIn.path");
return(rtn);
}
public static subactInfo Scoop()
{
subactInfo rtn = new subactInfo();
rtn.AddFile("Path//Scoop.path");
return(rtn);
}
public static subactInfo Trigger()
{
subactInfo rtn = new subactInfo();
rtn.AddFile("Path//trigger.path");
return(rtn);
}
public static subactInfo Pour(Objects toCup)
{
subactInfo rtn = new subactInfo();
URCoordinates grip = new URCoordinates(toCup.gripPos());
URCoordinates up = new URCoordinates(grip);
up.Y -= 0.1f;
URCoordinates debug = new URCoordinates(up);
debug.Y -= 0.02f;//在高一點以Rxyz有問題
URCoordinates now = new URCoordinates(up);
rtn.infotxt.Add("position");
rtn.infotxt.Add(debug.ToPos());
rtn.infotxt.Add(up.ToPos());
now.X -= 0.08f;
rtn.infotxt.Add(now.ToPos());
rtn.infotxt.Add("Rmovej");
rtn.infotxt.Add("[0,0,0,0,0,-2]");
rtn.infotxt.Add("position");
rtn.infotxt.Add(debug.ToPos());
return(rtn);
}
//public bool execute()
//{
// try
// {
// txt.Flush();
// txt.Close();
// }
// catch { }
// if (UR.isServerRunning == false)
// return false;
// UR.goFilePath(fileName);
// return true;
//}
public bool add(subactInfo subact)
{
try
{
for (int i = 0; i < subact.Count(); i++)
{
txt.WriteLine(subact.infotxt[i]);
}
return(true);
}
catch //應該是檔案沒被開啟會錯誤(通常是在已經saveFile了
{
return(false);
}
}
public static subactInfo Pick(subactInfo.place ThePlace)
{
subactInfo rtn = new subactInfo();
rtn.infotxt.Add("gripper");
rtn.infotxt.Add("0");
rtn.infotxt.Add("sleep");
rtn.infotxt.Add("1000");
if (ThePlace == subactInfo.place.DripTray)
{
rtn.AddFile($"Path//outDripTray.path");
}
return(rtn);
}
public static subactInfo Place(subactInfo.place ThePlace)
{
subactInfo rtn = new subactInfo();
if (ThePlace == subactInfo.place.DripTray)
{
string[] file = System.IO.File.ReadAllLines($"Path//toDripTray.path");
foreach (string line in file)
{
rtn.infotxt.Add(line);
}
}
rtn.infotxt.Add("gripper");
rtn.infotxt.Add("0");
rtn.infotxt.Add("sleep");
rtn.infotxt.Add("1000");
return(rtn);
}
public static subactInfo Pick(subactInfo.thing TheObject)
{
subactInfo rtn = new subactInfo();
rtn.infotxt.Add("gripper");
rtn.infotxt.Add("0");
rtn.infotxt.Add("sleep");
rtn.infotxt.Add("1000");
if (TheObject == subactInfo.thing.Capsule)
{
rtn.AddFile($"Path//moveCapsule.path");
}
if (TheObject == subactInfo.thing.Case)
{
// rtn.AddFile($"Path//moveCase.path");
}
return(rtn);
}