/// <summary>
/// 标定待机位
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnCalibWaitPos_Click(object sender, System.EventArgs e)
{
pt[0] = Position.Instance.RootPostion[0].X;
pt[1] = Position.Instance.RootPostion[0].Y;
pt[2] = Position.Instance.RootPostion[0].Z;
pt[3] = Position.Instance.RootPostion[0].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.YaxisServo.MoveTo(Position.Instance.YaxisPostion[0].pos);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[0].pos);
if (rdbLeftCalib.Checked)
{
Station1.LFXaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LFXPhoto);
Station1.LFYaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LFYPhoto);
Station1.LRXaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LRXPhoto);
Station1.LRYaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LRYPhoto);
Station1.RYaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.RYPhoto);
Station1.XaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.XPhoto);
Station1.SwichCylinder.Reset();
}
if (rdbRightCalib.Checked)
{
Station1.LFXaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LFXPhoto);
Station1.LFYaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LFYPhoto);
Station1.LRXaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LRXPhoto);
Station1.LRYaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LRYPhoto);
Station1.RYaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.RYPhoto);
Station1.XaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.XPhoto);
Station1.SwichCylinder.Set();
}
}
private void ContinuousMove()
{
bool result, ready;
for (int i = 0; i < 3; i++)
{
if (radioButtonMovP.Checked)
{
yamaha.MovP(point);
}
else
{
yamaha.MovL(point);
}
do
{
result = yamaha.Ready(out ready);
}while (!ready);
if (radioButtonMovP.Checked)
{
yamaha.MovP(point);
}
else
{
yamaha.MovL(point);
}
do
{
result = yamaha.Ready(out ready);
}while (!ready);
}
}
/// <summary>
/// 点击事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
switch (e.ColumnIndex)
{
case 5:
if (MessageBox.Show(string.Format("是否定位{0}的数据", dataGridView1.Rows[e.RowIndex].Cells[0].Value),
"定位", MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
break;
}
if (dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Value.ToString() == "定位")
{
double x = System.Convert.ToDouble(dataGridView1.Rows[e.RowIndex].Cells[1].Value);
double y = System.Convert.ToDouble(dataGridView1.Rows[e.RowIndex].Cells[2].Value);
double z = System.Convert.ToDouble(dataGridView1.Rows[e.RowIndex].Cells[3].Value);
double r = System.Convert.ToDouble(dataGridView1.Rows[e.RowIndex].Cells[4].Value);
pt[0] = x;
pt[1] = y;
pt[2] = z;
pt[3] = r;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
}
break;
case 6:
if (MessageBox.Show(string.Format("是否保存{0}的数据", dataGridView1.Rows[e.RowIndex].Cells[0].Value),
"保存", MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
break;
}
if (dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Value.ToString() == "保存")
{
Position.Instance.RootPostion[e.RowIndex].X = mYAMAHA.CurrentPosX;
Position.Instance.RootPostion[e.RowIndex].Y = mYAMAHA.CurrentPosY;
Position.Instance.RootPostion[e.RowIndex].Z = mYAMAHA.CurrentPosZ;
Position.Instance.RootPostion[e.RowIndex].R = mYAMAHA.CurrentPosR;
//Position.Instance.RootPostion[e.RowIndex].Name = dataGridView1.Rows[e.RowIndex].Cells[0].Value.ToString();
InitdgvPlatePositionRows();
}
break;
default: break;
}
}
/// <summary>
/// 走标定位置
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnGotoStart_Click(object sender, System.EventArgs e)
{
pt[0] = Config.Instance.PhotoCalibPostion.X;
pt[1] = Config.Instance.PhotoCalibPostion.Y;
pt[2] = Config.Instance.PhotoCalibPostion.Z;
pt[3] = Config.Instance.PhotoCalibPostion.R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
}