private void buttonRobotProgramPositionAdd_Click(object sender, RoutedEventArgs e) { Robot robot = new Robot(); if (controlRobot.Value == 1) robot = roboteam.Robot1; else if (controlRobot.Value == 2) robot = roboteam.Robot2; Routine.Command command = new Routine.Command(Routine.Task.PTP, new IRob.Geometry.Position(0, 0, 0, 0, 0, 0)); if (selecetedCommand != -1) { robot.Program.InsertCommand(selecetedCommand, command); ViewRobotProgramPosition(robot); } else { robot.Program.AddCommand(command); selecetedCommand = robot.Program.Commands.Count() - 1; ViewRobotProgramPosition(robot); } }
private void buttonRobotProgramPositionConfirm_Click(object sender, RoutedEventArgs e) { int taskIndex = comboBoxRobotProgramTask.SelectedIndex; Routine.Command command = new Routine.Command((Routine.Task)taskIndex, new IRob.Geometry.Position(controlProgramX.Value, controlProgramY.Value, controlProgramZ.Value, controlProgramA.Value, controlProgramB.Value, controlProgramC.Value)); if (controlRobot.Value == 1) { roboteam.Robot1.Program.RemoveCommand(selecetedCommand); roboteam.Robot1.Program.InsertCommand(selecetedCommand, command); } else if (controlRobot.Value == 2) { roboteam.Robot2.Program.RemoveCommand(selecetedCommand); roboteam.Robot2.Program.InsertCommand(selecetedCommand, command); } selecetedCommand = -1; }