// control event handle
private void OnEvent(object sender)
{
if (!isConnectted)
{
return;
}
UInt64 cmdIndex = 0;
Button obj = (Button)sender;
String con = obj.Content.ToString();
switch (con)
{
case "R+":
case "Joint4+":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogDPPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
case "R-":
case "Joint4-":
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogDNPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
break;
default:
break;
}
}
/// <summary>
/// StartDobot
/// </summary>
private async void StartDobot()
{
StringBuilder fwType = new StringBuilder(60);
StringBuilder version = new StringBuilder(60);
int ret = DobotDll.ConnectDobot(Dobot_IP_ADDRESS, 115200, fwType, version);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
var messageDialogError = new MessageDialog("Connect Error");
await messageDialogError.ShowAsync();
return;
}
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Get name
string deviceName = "Dobot Magician";
DobotDll.SetDeviceName(deviceName);
StringBuilder deviceSN = new StringBuilder(64);
DobotDll.GetDeviceName(deviceSN, 64);
SetParam();
}
private void SetParam()
{
UInt64 cmdIndex = 0;
JOGJointParams jsParam;
jsParam.velocity = new float[] { 200, 200, 200, 200 };
jsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetJOGJointParams(ref jsParam, false, ref cmdIndex);
JOGCommonParams jdParam;
jdParam.velocityRatio = 100;
jdParam.accelerationRatio = 100;
DobotDll.SetJOGCommonParams(ref jdParam, false, ref cmdIndex);
PTPJointParams pbsParam;
pbsParam.velocity = new float[] { 200, 200, 200, 200 };
pbsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetPTPJointParams(ref pbsParam, false, ref cmdIndex);
PTPCoordinateParams cpbsParam;
cpbsParam.xyzVelocity = 100;
cpbsParam.xyzAcceleration = 100;
cpbsParam.rVelocity = 100;
cpbsParam.rAcceleration = 100;
DobotDll.SetPTPCoordinateParams(ref cpbsParam, false, ref cmdIndex);
PTPJumpParams pjp;
pjp.jumpHeight = 20;
pjp.zLimit = 100;
DobotDll.SetPTPJumpParams(ref pjp, false, ref cmdIndex);
PTPCommonParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPTPCommonParams(ref pbdParam, false, ref cmdIndex);
PTPLParams pTPLParams;
pTPLParams.velocity = 50;
pTPLParams.acceleration = 50;
DobotDll.SetPTPLParams(ref pTPLParams, false, ref cmdIndex);
JogLParams joglparams;
joglparams.velocity = 50;
joglparams.acceleration = 50;
DobotDll.SetJOGLParams(ref joglparams, false, ref cmdIndex);
}
async void dispatcherTimer_Tick(object sender, object e)
{
UInt64 cmdIndex = 0;
GattReadResult result = await myCharacteristic.ReadValueAsync(BluetoothCacheMode.Uncached);
if (result.Status == GattCommunicationStatus.Success)
{
var reader = DataReader.FromBuffer(result.Value);
byte[] input = new byte[reader.UnconsumedBufferLength];
reader.ReadBytes(input);
float XOrientation = BitConverter.ToSingle(new Byte[] { input[0], input[1], input[2], input[3] }, 0);
float YOrientation = BitConverter.ToSingle(new Byte[] { input[4], input[5], input[6], input[7] }, 0);
float ZOrientation = BitConverter.ToSingle(new Byte[] { input[8], input[9], input[10], input[11] }, 0);
float DX = XOrientation - oldXOrientation;
oldXOrientation = XOrientation;
if (DX > 1)
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogAPPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
else if (DX < -1)
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogANPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
float DY = YOrientation - oldYOrientation;
oldYOrientation = YOrientation;
if (DY > 1)
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogBPPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
else if (DY < -1)
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogBNPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
float DZ = ZOrientation - oldZOrientation;
oldZOrientation = ZOrientation;
if (DZ > 1)
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogCPPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
else if (DZ < -1)
{
currentCmd.isJoint = isJoint;
currentCmd.cmd = (byte)JogCmdType.JogCNPressed;
DobotDll.SetJOGCmd(ref currentCmd, false, ref cmdIndex);
}
String s = String.Format("X={0} ; Y={1} ; Z={2}", XOrientation, YOrientation, ZOrientation);
textBlock.Text = s;
}
}
