private void button_Add_Click(object sender, EventArgs e)
{
double x;
double y;
double theta;
if (double.TryParse(tB_CycleRunX.Text, out x) && double.TryParse(tB_CycleRunY.Text, out y) && double.TryParse(tB_CycleRunTheta.Text, out theta))
{
MapAGVPosition temp = new MapAGVPosition();
temp.Angle = theta;
temp.Position = new MapPosition(x, y);
cycleRunMovingAGVPosition.Add(temp);
listBox_MovingPoint.Items.Add(computeFunction.GetMapAGVPositionStringWithAngle(temp));
}
}
private void UpdateMoveControlJogPitch()
{
if (localData.MoveControlData.MotionControlData.JoystickMode)
{
label_JogPitch_JoystickValue.Text = "開啟中";
label_JogPitch_JoystickValue.ForeColor = Color.Green;
}
else
{
label_JogPitch_JoystickValue.Text = "關閉中";
label_JogPitch_JoystickValue.ForeColor = Color.Red;
}
pB_JogPitch_AllServoOn.BackColor = (mainFlow.MoveControl.MotionControl.AllServoOn ? Color.Green : Color.Transparent);
pB_JogPitch_AllServoOff.BackColor = (mainFlow.MoveControl.MotionControl.AllServoOff ? Color.Red : Color.Transparent);
label_JogPitch_LineVelocityValue.Text = localData.MoveControlData.MotionControlData.JoystickLineAxisData.Velocity.ToString("0");
label_JogPitch_LineAccValue.Text = localData.MoveControlData.MotionControlData.JoystickLineAxisData.Acceleration.ToString("0");
label_JogPitch_LineDecValue.Text = localData.MoveControlData.MotionControlData.JoystickLineAxisData.Deceleration.ToString("0");
label_JogPitch_ThetaVelocityValue.Text = localData.MoveControlData.MotionControlData.JoystickThetaAxisData.Velocity.ToString("0");
label_JogPitch_ThetaAccValue.Text = localData.MoveControlData.MotionControlData.JoystickThetaAxisData.Acceleration.ToString("0");
label_JogPitch_ThetaDecValue.Text = localData.MoveControlData.MotionControlData.JoystickThetaAxisData.Deceleration.ToString("0");
ThetaSectionDeviation temp = localData.MoveControlData.ThetaSectionDeviation;
if (temp != null)
{
label_JogPitch_SectionDeviationValue.Text = temp.SectionDeviation.ToString("0.0");
label_JogPitch_SectionThetaValue.Text = temp.Theta.ToString("0.0");
if (Math.Abs(temp.SectionDeviation) <= localData.MoveControlData.MoveControlConfig.Safety[EnumMoveControlSafetyType.OntimeReviseSectionDeviationLine].Range / 2)
{
label_JogPitch_SectionDeviationValue.ForeColor = Color.Green;
}
else
{
label_JogPitch_SectionDeviationValue.ForeColor = Color.Red;
}
if (Math.Abs(temp.Theta) <= localData.MoveControlData.MoveControlConfig.Safety[EnumMoveControlSafetyType.OntimeReviseTheta].Range / 2)
{
label_JogPitch_SectionThetaValue.ForeColor = Color.Green;
}
else
{
label_JogPitch_SectionThetaValue.ForeColor = Color.Red;
}
}
else
{
label_JogPitch_SectionDeviationValue.Text = "---";
label_JogPitch_SectionDeviationValue.ForeColor = Color.Red;
label_JogPitch_SectionThetaValue.Text = "---";
label_JogPitch_SectionThetaValue.ForeColor = Color.Red;
}
if (localData.MoveControlData.MoveControlCanAuto)
{
label_JogPitch_CanAuto.Text = "可以Auto";
label_JogPitch_CanAuto.ForeColor = Color.Green;
label_JogPitch_CantAutoReason.Text = "";
}
else
{
label_JogPitch_CanAuto.Text = "不能Auto";
label_JogPitch_CanAuto.ForeColor = Color.Red;
label_JogPitch_CantAutoReason.Text = localData.MoveControlData.MoveControlCantAutoReason;
}
label_JogPitch_RealPositionValue.Text = computeFunction.GetMapAGVPositionStringWithAngle(localData.Real);
}
