public override String to_script(bRobotBrand type, bool cont)
{
string cmd;
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
// URSCRIPT
case (bRobotBrand.UR):
Types.UR.AxisAngle aa = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
if (this.axis)
{
cmd = String.Format("movep([{0:0.000}, {1:0.000}, {2:0.000}, {3:0.000}, {4:0.000}, {5:0.000}], a={6:0.000}, v={7:0.000}",
this.q[0], this.q[1], this.q[2],
this.q[3], this.q[4], this.q[5],
this.qdd, this.qd);
}
else
{
cmd = String.Format("movep(p[{0:0.000}, {1:0.000}, {2:0.000}, {3:0.000}, {4:0.000}, {5:0.000}], a={6:0.000}, v={7:0.000}",
this.waypoint.Origin.X * 0.001, this.waypoint.Origin.Y * 0.001, this.waypoint.Origin.Z * 0.001,
aa.x * aa.angle, aa.y * aa.angle, aa.z * aa.angle,
this.qdd, this.qd);
}
if (r > 0.0001)
cmd += String.Format(", r={0:0.0000}", r * 0.001);
cmd += ")\n";
return cmd;
// KUKA KRL
case (bRobotBrand.KUKA):
Types.KUKA.kukaABC k1 = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
cmd = "SPL {" + String.Format("X {0:0.0000}, Y {1:0.0000}, Z {2:0.0000}, A {3:0.0000}, B {4:0.0000}, C {5:0.0000},",
k1.x, k1.y, k1.z, k1.a, k1.b, k1.c)
+ "E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}";
if (cont)
cmd += "\n";
//cmd += " C_VEL\n";
else
cmd += "\n";
return cmd;
// ABB RAPID
case (bRobotBrand.ABB):
Quaternion quat;
break;
}
return "circular move";
}
public override String to_script(bRobotBrand type, bool cont)
{
string cmd;
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
case (bRobotBrand.UR):
Types.UR.AxisAngle aa = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
if (this.axis)
{
cmd = String.Format("movej([{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}], a={6:0.0000}, v={7:0.0000}",
this.q[0], this.q[1], this.q[2],
this.q[3], this.q[4], this.q[5],
this.qdd, this.qd);
}
else
{
cmd = String.Format("movej(p[{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}], a={6:0.0000}, v={7:0.0000}",
this.waypoint.Origin.X * 0.001, this.waypoint.Origin.Y * 0.001, this.waypoint.Origin.Z * 0.001,
aa.x * aa.angle, aa.y * aa.angle, aa.z * aa.angle,
this.qdd, this.qd);
}
if (r > 0.0001)
cmd += String.Format(", r = {0:0.0000}", r * 0.001);
cmd += ")\n";
return cmd;
case (bRobotBrand.KUKA):
Types.KUKA.kukaABC k = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
//cmd = "PTP {" + String.Format("X {0:0.0000}, Y {1:0.0000}, Z {2:0.0000}, A {3:0.0000}, B {4:0.0000}, C {5:0.0000},",
//k.x, k.y, k.z, k.a, k.b, k.c)
//+ String.Format("E1 0, E2 0, E3 0, E4 0, E5 0, E6 0, S {0}, T {1}", k.s, k.t) + "}";
cmd = "PTP {" + String.Format("X {0:0.0000}, Y {1:0.0000}, Z {2:0.0000}, A {3:0.0000}, B {4:0.0000}, C {5:0.0000},",
k.x, k.y, k.z, k.a, k.b, k.c)
+
"E1 0, E2 0, E3 0, E4 0, E5 0, E6 0 }";
if (cont)
cmd += "\n";
//cmd += " C_PTP\n";
else
cmd += "\n";
return cmd;
case (bRobotBrand.ABB):
break;
}
return "joint move";
}
public override int Write()
{
if (this.Robot.Type() != bRobotBrand.UR)
{
System.ArgumentException argEx = new System.ArgumentException("Invalid robot type for program. Is it a UR robot?");
throw argEx;
}
this.program = "def " + this.name + "():\n";
// Write init data
this.program += "\ttextmsg(\"---\")\n";
this.program += "\ttextmsg(\"Program generated by Brick v0.1\")\n";
this.program += "\ttextmsg(\"Brick is written by Tom Svilans\")\n\n";
this.program += "\ttextmsg(\"tomsvilans.com\")\n\n";
this.program += "\ttextmsg(\"---\")\n";
Types.UR.AxisAngle ta = new Types.UR.AxisAngle(robot.Tool.RootToTCP);
this.program += String.Format("\tset_tcp(p[{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}])\n", robot.Tool.RootToTCP.M03 * 0.001, robot.Tool.RootToTCP.M13 * 0.001, robot.Tool.RootToTCP.M23 * 0.001, ta.x * ta.angle, ta.y * ta.angle, ta.z * ta.angle);
this.program += String.Format("\tset_payload({0:0.0000})\n\n", 1.0);
//this.program += String.Format("while(True):\n\tif(get_digital_out({0})):\n\t\tbreak\n\telse:\n\t\tsync()\n\n", 5);
for (int i = 0; i < commands.Count; ++i)
{
switch (commands[i].Type())
{
case (CommandType.MoveCommand):
bMoveBase movcmd = (bMoveBase)commands[i];
movcmd.Transform(Transform.PlaneToPlane(robot.Position, Plane.WorldXY));
this.program += " " + movcmd.to_script(bRobotBrand.UR, true);
movcmd.Transform(Transform.PlaneToPlane(Plane.WorldXY, robot.Position));
break;
case (CommandType.IOCommand):
bIOBase iocmd = (bIOBase)commands[i];
this.program += iocmd.to_script(bRobotBrand.UR);
break;
default:
this.program += "Unsupported command.\n";
break;
}
}
this.program += "end\n";
this.program += this.name + "()\n"; // run program
return 1;
}
public override String to_script(bRobotBrand type, bool cont)
{
switch (type)
{
case (bRobotBrand.UNKNOWN):
return "Unknown robot model";
case (bRobotBrand.UR):
Types.UR.AxisAngle q1 = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
Types.UR.AxisAngle q2 = new Types.UR.AxisAngle(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint2));
return String.Format("movec(p[{0:0.0000}, {1:0.0000}, {2:0.0000}, {3:0.0000}, {4:0.0000}, {5:0.0000}], p[{6:0.0000}, {7:0.0000}, {8:0.0000}, {9:0.0000}, {10:0.0000}, {11:0.0000}], a={12:0.0000}, v={13:0.0000})",
this.waypoint.Origin.X * 0.001, this.waypoint.Origin.Y * 0.001, this.waypoint.Origin.Z * 0.001,
q1.x, q1.y, q1.z,
this.waypoint2.Origin.X * 0.001, this.waypoint2.Origin.Y * 0.001, this.waypoint2.Origin.Z * 0.001,
q2.x, q2.y, q2.z,
this.qdd, this.qd);
case (bRobotBrand.KUKA):
Types.KUKA.kukaABC k1 = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint));
Types.KUKA.kukaABC k2 = new Types.KUKA.kukaABC(Rhino.Geometry.Transform.PlaneToPlane(Plane.WorldXY, this.waypoint2));
string cmd = String.Format("CIRC {X {0:0.000}, Y {1:0.000}, Z {2:0.000}, A {3:0.000}, B {4:0.000}, C {5:0.000},",
k1.x, k1.y, k1.z, k1.a, k1.b, k1.c)
+ String.Format("X {0:0.000}, Y {1:0.000}, Z {2:0.000}, A {3:0.000}, B {4:0.000}, C {5:0.000},",
k2.x, k2.y, k2.z, k2.a, k2.b, k2.c)
+ "E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}";
if (cont)
cmd += " C_VEL\n";
else
cmd += "\n";
return cmd;
case (bRobotBrand.ABB):
break;
}
return "circular move";
}