/// <summary> /// StartDobot /// </summary> private void StartDobot() { int ret; // start connect if ((ret = DobotDll.ConnectDobot()) >= (int)DobotResult.DobotResult_Error_Min) { Msg("Connect error ,code:" + ret.ToString(), MsgInfoType.Error); return; } isConnectted = true; // reset and start //DobotDll.ResetDobot(); DobotDll.SetCmdTimeout(500); DobotDll.SetEndType(EndType.EndTypePump); // Must set when sensor is not exist InitialPose initialPose; initialPose.joint2Angle = 45; initialPose.joint3Angle = 45; DobotDll.SetInitialPose(ref initialPose); JogStaticParams jsParam; jsParam.jointMaxVelocity = 15; jsParam.jointMaxAcceleration = 50; jsParam.servoMaxVelocity = 30; jsParam.servoMaxAcceleration = 10; jsParam.linearMaxVelocity = 40; jsParam.linearMaxAcceleration = 40; DobotDll.SetJogStaticParams(ref jsParam); JogDynamicParams jdParam; jdParam.velocityRatio = 30; DobotDll.SetJogDynamicParams(ref jdParam); PlaybackStaticParams pbsParam; pbsParam.jointMaxVelocity = 200; pbsParam.jointMaxAcceleration = 200; pbsParam.servoMaxVelocity = 200; pbsParam.servoMaxAcceleration = 200; pbsParam.linearMaxVelocity = 800; pbsParam.linearMaxAcceleration = 1000; pbsParam.pauseTime = 100; pbsParam.jumpHeight = 20; DobotDll.SetPlaybackStaticParams(ref pbsParam); PlaybackDynamicParams pbdParam; pbdParam.velocityRatio = 30; pbdParam.accelerationRatio = 30; DobotDll.SetPlaybackDynamicParams(ref pbdParam); }
private void ComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e) { if (!isConnectted) { return; } ComboBox obj = (ComboBox)sender; String tag = obj.Tag.ToString(); if (tag == "mode") { bool isJ = ((ComboBoxItem)obj.SelectedItem).Content.ToString() == "Axis"; isJoint = isJ ? (byte)1 : (byte)0; if (isJ) { XI.Content = "Joint1+"; YI.Content = "Joint2+"; ZI.Content = "Joint3+"; RI.Content = "Joint4+"; XN.Content = "Joint1-"; YN.Content = "Joint2-"; ZN.Content = "Joint3-"; RN.Content = "Joint4-"; } else { XI.Content = "X+"; YI.Content = "Y+"; ZI.Content = "Z+"; RI.Content = "R+"; XN.Content = "X-"; YN.Content = "Y-"; ZN.Content = "Z-"; RN.Content = "R-"; } } else if (tag == "headType") { string str = ((ComboBoxItem)obj.SelectedItem).Content.ToString(); if (str == "Pump") { DobotDll.SetEndType(EndType.EndTypePump); cbGrab.IsEnabled = true; cbLaser.IsEnabled = false; btnGrpOn.IsEnabled = false; btnGrpOff.IsEnabled = false; } else if (str == "Gripper") { cbGrab.IsEnabled = false; cbLaser.IsEnabled = false; btnGrpOn.IsEnabled = true; btnGrpOff.IsEnabled = true; DobotDll.SetEndType(EndType.EndTypeGripper); } else if (str == "Laser") { cbGrab.IsEnabled = false; cbLaser.IsEnabled = true; btnGrpOn.IsEnabled = false; btnGrpOff.IsEnabled = false; DobotDll.SetEndType(EndType.EndTypeLaser); } } }