private void CheckBox_Unchecked(object sender, RoutedEventArgs e)
{
if (!isConnectted)
{
return;
}
CheckBox obj = (CheckBox)sender;
String con = obj.Content.ToString();
if (con == "Grab") // cancel grab
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = JogCmd.JogRelease;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
else if (con == "Laser") // release laser
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = JogCmd.JogLaserOff;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
}
private void CheckBox_Checked(object sender, RoutedEventArgs e)
{
if (!isConnectted)
{
return;
}
CheckBox obj = (CheckBox)sender;
String con = obj.Content.ToString();
if (con == "Grab") // grab
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = JogCmd.JogGrab;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
else if (con == "Laser") // Shutting
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = JogCmd.JogLaserOn;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
}
//Notaus-Event, versetzt den roboter in den Ruhezustand
private void btn_notaus_Click(object sender, EventArgs e)
{
currentCmd.cmd = JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
//Z-
private void btnzminus_MouseDown(object sender, MouseEventArgs e)
{
currentCmd.cmd = JogCmd.JogCNPressed;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
//Stillstand (wird bei allen buttons bei mouse-down aufgerunfen)
private void btnxplus_MouseUp(object sender, MouseEventArgs e)
{
currentCmd.cmd = JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
// control event handle
private void OnEvent(object sender, MouseButtonEventArgs e)
{
if (!isConnectted)
{
return;
}
Button obj = (Button)sender;
String con = obj.Content.ToString();
switch (con)
{
case "X+":
case "Joint1+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed? JogCmd.JogAPPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "X-":
case "Joint1-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogANPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "Y+":
case "Joint2+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogBPPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "Y-":
case "Joint2-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogBNPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "Z+":
case "Joint3+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogCPPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "Z-":
case "Joint3-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogCNPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "R+":
case "Joint4+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogDPPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "R-":
case "Joint4-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogDNPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "Gripper+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogGPPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
case "Gripper-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = e.ButtonState == MouseButtonState.Pressed ? JogCmd.JogGNPressed : JogCmd.JogIdle;
DobotDll.SetJogInstantCmd(ref currentCmd);
}
break;
default:
break;
}
}
