public Boolean move_XYZABC_TogetherMode(Coordinate_XYZABC newXyzabc, Coordinate_XYZABC oldXyzabc)
{
if (newXyzabc.X < xyzabcUpLimited[0] && newXyzabc.X > xyzabcDownLimited[0])
{
if (newXyzabc.Y < xyzabcUpLimited[1] && newXyzabc.Y > xyzabcDownLimited[1])
{
if (newXyzabc.Z < xyzabcUpLimited[2] && newXyzabc.Z > xyzabcDownLimited[2])
{
if (newXyzabc.A < xyzabcUpLimited[3] && newXyzabc.A > xyzabcDownLimited[3])
{
if (newXyzabc.B < xyzabcUpLimited[4] && newXyzabc.B > xyzabcDownLimited[4])
{
if (newXyzabc.C < xyzabcUpLimited[5] && newXyzabc.C > xyzabcDownLimited[5])
{
float[] XyzabcWaitTime = new float[3];
float[] TempWaitTime = new float[3];
int[] Order = new int[3] { -1, -1, -1 };
int SwitchMode;
TempWaitTime[0] = Math.Abs(((newXyzabc.X - oldXyzabc.X) / Vel) * 12);
TempWaitTime[1] = Math.Abs(((newXyzabc.Y - oldXyzabc.Y) / Vel) * 12);
TempWaitTime[2] = Math.Abs(((newXyzabc.Z - oldXyzabc.Z) / Vel) * 12);
XyzabcWaitTime[0] = ((newXyzabc.X - oldXyzabc.X) / Vel) * 12;
XyzabcWaitTime[1] = ((newXyzabc.Y - oldXyzabc.Y) / Vel) * 12;
XyzabcWaitTime[2] = ((newXyzabc.Z - oldXyzabc.Z) / Vel) * 12;
Array.Sort(TempWaitTime);
for (int i = 0; i < 3; i++)
{
if ((Order[0] == -1) & Math.Abs(TempWaitTime[0] - Math.Abs(XyzabcWaitTime[i])) < 0.01)
{
Order[0] = i;
}
else if ((Order[1] == -1) & Math.Abs(TempWaitTime[1] - Math.Abs(XyzabcWaitTime[i])) < 0.01)
{
Order[1] = i;
}
else if ((Order[2] == -1) & Math.Abs(TempWaitTime[2] - Math.Abs(XyzabcWaitTime[i])) < 0.01)
{
Order[2] = i;
}
}
if (((int)(TempWaitTime[1] - TempWaitTime[0]) == 0) & ((int)(TempWaitTime[2] - TempWaitTime[1]) == 0))
{
SwitchMode = 3;
}
else if (((int)(TempWaitTime[1] - TempWaitTime[0]) == 0))
{
SwitchMode = 1;
}
else if (((int)(TempWaitTime[2] - TempWaitTime[1]) == 0))
{
SwitchMode = 2;
}
else
{
SwitchMode = 0;
}
switch (SwitchMode)
{
case 0:
xyzabcCommand[0] = (Math.Sign(XyzabcWaitTime[0]) * Vel).ToString();
xyzabcCommand[1] = (Math.Sign(XyzabcWaitTime[1]) * Vel).ToString();
xyzabcCommand[2] = (Math.Sign(XyzabcWaitTime[2]) * Vel).ToString();
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(TempWaitTime[0]));
xyzabcCommand[Order[0]] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round((TempWaitTime[1] - TempWaitTime[0])));
xyzabcCommand[Order[1]] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round((TempWaitTime[2] - TempWaitTime[1])));
xyzabcCommand[Order[2]] = "0";
move_KukaArm("Xyzabc");
break;
case 1:
xyzabcCommand[0] = (Math.Sign(XyzabcWaitTime[0]) * Vel).ToString();
xyzabcCommand[1] = (Math.Sign(XyzabcWaitTime[1]) * Vel).ToString();
xyzabcCommand[2] = (Math.Sign(XyzabcWaitTime[2]) * Vel).ToString();
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(TempWaitTime[0]));
xyzabcCommand[Order[0]] = "0";
xyzabcCommand[Order[1]] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round((TempWaitTime[2] - TempWaitTime[1])));
xyzabcCommand[Order[2]] = "0";
move_KukaArm("Xyzabc");
break;
case 2:
xyzabcCommand[0] = (Math.Sign(XyzabcWaitTime[0]) * Vel).ToString();
xyzabcCommand[1] = (Math.Sign(XyzabcWaitTime[1]) * Vel).ToString();
xyzabcCommand[2] = (Math.Sign(XyzabcWaitTime[2]) * Vel).ToString();
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(TempWaitTime[0]));
xyzabcCommand[Order[0]] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round((TempWaitTime[1] - TempWaitTime[0])));
xyzabcCommand[Order[1]] = "0";
xyzabcCommand[Order[2]] = "0";
move_KukaArm("Xyzabc");
break;
case 3:
xyzabcCommand[0] = (Math.Sign(XyzabcWaitTime[0]) * Vel).ToString();
xyzabcCommand[1] = (Math.Sign(XyzabcWaitTime[1]) * Vel).ToString();
xyzabcCommand[2] = (Math.Sign(XyzabcWaitTime[2]) * Vel).ToString();
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(TempWaitTime[0]));
xyzabcCommand[Order[0]] = "0";
xyzabcCommand[Order[1]] = "0";
xyzabcCommand[Order[2]] = "0";
move_KukaArm("Xyzabc");
break;
default:
break;
}
}
}
}
}
}
return true;
}
else
{
return false;
}
}
public Boolean move_XYZABC_RotationMode(Coordinate_XYZABC newXyzabc, Coordinate_XYZABC oldXyzabc)
{
if (newXyzabc.X < xyzabcUpLimited[0] && newXyzabc.X > xyzabcDownLimited[0])
{
if (newXyzabc.Y < xyzabcUpLimited[1] && newXyzabc.Y > xyzabcDownLimited[1])
{
if (newXyzabc.Z < xyzabcUpLimited[2] && newXyzabc.Z > xyzabcDownLimited[2])
{
if (newXyzabc.A < xyzabcUpLimited[3] && newXyzabc.A > xyzabcDownLimited[3])
{
if (newXyzabc.B < xyzabcUpLimited[4] && newXyzabc.B > xyzabcDownLimited[4])
{
if (newXyzabc.C < xyzabcUpLimited[5] && newXyzabc.C > xyzabcDownLimited[5])
{
float[] SleepTime = new float[3];
SleepTime[0] = newXyzabc.A - oldXyzabc.A;
SleepTime[1] = newXyzabc.B - oldXyzabc.B;
SleepTime[2] = newXyzabc.C - oldXyzabc.C;
xyzabcCommand[3] = (Math.Sign(SleepTime[0]) * rotation_Vel).ToString();
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(((Math.Abs(SleepTime[0]) * 12.0)) / rotation_Vel));
xyzabcCommand[3] = "0";
xyzabcCommand[4] = (-Math.Sign(SleepTime[1]) * rotation_Vel).ToString();
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(((Math.Abs(SleepTime[1]) * 12.0)) / rotation_Vel));
xyzabcCommand[4] = "0";
move_KukaArm("Xyzabc");
}
}
}
}
}
return true;
}
else
{
return false;
}
}
public void move_XYZABC(Coordinate_XYZABC newXyzabc)
{
xyzabcCommand[0] = newXyzabc.X.ToString();
xyzabcCommand[1] = newXyzabc.Y.ToString();
xyzabcCommand[2] = newXyzabc.Z.ToString();
xyzabcCommand[3] = newXyzabc.A.ToString();
xyzabcCommand[4] = newXyzabc.B.ToString();
xyzabcCommand[5] = newXyzabc.C.ToString();
move_KukaArm("Xyzabc");
//(12ms = 一單位)
Thread.Sleep(12);
xyzabcCommand[0] = "0";
xyzabcCommand[1] = "0";
xyzabcCommand[2] = "0";
xyzabcCommand[3] = "0";
xyzabcCommand[4] = "0";
xyzabcCommand[5] = "0";
move_KukaArm("Xyzabc");
}
public Boolean move_XYZABC_SingalMode(Coordinate_XYZABC newXyzabc, Coordinate_XYZABC oldXyzabc)
{
if (newXyzabc.X < xyzabcUpLimited[0] && newXyzabc.X > xyzabcDownLimited[0])
{
if (newXyzabc.Y < xyzabcUpLimited[1] && newXyzabc.Y > xyzabcDownLimited[1])
{
if (newXyzabc.Z < xyzabcUpLimited[2] && newXyzabc.Z > xyzabcDownLimited[2])
{
if (newXyzabc.A < xyzabcUpLimited[3] && newXyzabc.A > xyzabcDownLimited[3])
{
if (newXyzabc.B < xyzabcUpLimited[4] && newXyzabc.B > xyzabcDownLimited[4])
{
if (newXyzabc.C < xyzabcUpLimited[5] && newXyzabc.C > xyzabcDownLimited[5])
{
Double[] XyzabcWaitTime = new Double[6];
XyzabcWaitTime[0] = ((newXyzabc.X - oldXyzabc.X) / Vel) * 12.0;
XyzabcWaitTime[1] = ((newXyzabc.Y - oldXyzabc.Y) / Vel) * 12.0;
XyzabcWaitTime[2] = ((newXyzabc.Z - oldXyzabc.Z) / Vel) * 12.0;
xyzabcCommand[0] = (Math.Sign(XyzabcWaitTime[0]) * Vel).ToString();
xyzabcCommand[1] = "0";
xyzabcCommand[2] = "0";
xyzabcCommand[3] = "0";
xyzabcCommand[4] = "0";
xyzabcCommand[5] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep( (int)Math.Round(Math.Abs(XyzabcWaitTime[0])));
XyzabcCommand[0] = "0";
XyzabcCommand[1] = (Math.Sign(XyzabcWaitTime[1]) * Vel).ToString();
XyzabcCommand[2] = "0";
xyzabcCommand[3] = "0";
xyzabcCommand[4] = "0";
xyzabcCommand[5] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(Math.Abs(XyzabcWaitTime[1])));
xyzabcCommand[0] = "0";
xyzabcCommand[1] = "0";
xyzabcCommand[2] = (Math.Sign(XyzabcWaitTime[2]) * Vel).ToString();
xyzabcCommand[3] = "0";
xyzabcCommand[4] = "0";
xyzabcCommand[5] = "0";
move_KukaArm("Xyzabc");
Thread.Sleep((int)Math.Round(Math.Abs(XyzabcWaitTime[2])));
xyzabcCommand[0] = "0";
xyzabcCommand[1] = "0";
xyzabcCommand[2] = "0";
xyzabcCommand[3] = "0";
xyzabcCommand[4] = "0";
xyzabcCommand[5] = "0";
move_KukaArm("Xyzabc");
}
}
}
}
}
return true;
}
else
{
return false;
}
}
private void KukaMoveXyzabcModeThread()
{
switch (XyzabcMode)
{
case "X":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Command.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 1;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = -1;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "Y":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Command.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 1;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = -1;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "Z":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Command.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 1;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = -1;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "A":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Command.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 1;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = -1;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "B":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Command.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 1;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = -1;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "C":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Command.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 1;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = -1;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "A1" :
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 1;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = -1;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A2":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 1;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = -1;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A3":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 1;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = -1;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A4":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 1;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = -1;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A5":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 1;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = -1;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A6":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 1;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = -1;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "Xyzabc":
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Command.Text);
newXyzabc.Y = float.Parse(Y_Command.Text);
newXyzabc.Z = float.Parse(Z_Command.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
break;
}
case "Axis":
{
if (MoveType == "0")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Command.Text);
newAxis.A2 = float.Parse(A2_Command.Text);
newAxis.A3 = float.Parse(A3_Command.Text);
newAxis.A4 = float.Parse(A4_Command.Text);
newAxis.A5 = float.Parse(A5_Command.Text);
newAxis.A6 = float.Parse(A6_Command.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Command.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "2")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Command.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "3")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Command.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "4")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Command.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "5")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Command.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "6")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Command.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "9")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(Path[Path_count, 0].ToString());
newAxis.A2 = float.Parse(Path[Path_count, 1].ToString());
newAxis.A3 = float.Parse(Path[Path_count, 2].ToString());
newAxis.A4 = float.Parse(Path[Path_count, 3].ToString());
newAxis.A5 = float.Parse(Path[Path_count, 4].ToString());
newAxis.A6 = float.Parse(Path[Path_count, 5].ToString());
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
Path_count++;
if (Path_count == 20)
{
Path_count = 0;
}
}
break;
}
case "XyzabcHome":
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = -90;
newAxis.A3 = 90;
newAxis.A4 = 0;
newAxis.A5 = -90;
newAxis.A6 = -180;
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
break;
}
case "PoseEstimation":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[1];
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
IsArmCanMove = true;
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 9;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[1];
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
IsArmCanMove = true;
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 9;
}
else if (MoveType == "2")
{
/*
* 抓取物件
*/
GraspObjectType = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._ObjectType;
Start_A = float.Parse(A_Value.Text);
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = Start_A + KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._A;
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = Start_A;
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._X;
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._Y;
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._Z;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
/*
* 抓取物件
*/
GraspState = 1;
Thread GraspControl = new Thread(new ThreadStart(GraspControlThread));
GraspControl.Start();
Thread.Sleep(200);
/*
* 往上移動至擷取圖像點
*/
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[1];
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = Start_A;
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = Start_A + KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._A;
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
/* newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
/*newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;/*
/*
* 請求Server端擷新影像
*/
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 5;
/*while (KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State == 5)
{
//Thread.Sleep(50);
}*/
/*
* 放置物件
*/
/* newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
/*newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
//newXyzabc = new Coordinate_XYZABC();
//oldXyzabc = new Coordinate_XYZABC();
//newXyzabc.X = float.Parse(X_Value.Text);
//newXyzabc.Y = float.Parse(Y_Value.Text);
//newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
//newXyzabc.A = float.Parse(A_Value.Text);
//newXyzabc.B = float.Parse(B_Value.Text);
//newXyzabc.C = float.Parse(C_Value.Text);
//oldXyzabc.X = float.Parse(X_Value.Text);
//oldXyzabc.Y = float.Parse(Y_Value.Text);
//oldXyzabc.Z = float.Parse(Z_Value.Text);
//oldXyzabc.A = float.Parse(A_Value.Text);
//oldXyzabc.B = float.Parse(B_Value.Text);
//oldXyzabc.C = float.Parse(C_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
// myListBox("Error : Xyzabc Out of limited!!", ListMsg);
//oldXyzabc = null;
//newXyzabc = null;
if (GraspObjectType == 0)
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 600;
newXyzabc.Y = -200;
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (GraspObjectType == 1)
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 300;
newXyzabc.Y = -200;
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (GraspObjectType == 2)
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 450;
newXyzabc.Y = -200;
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
/*newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
* oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
Thread.Sleep(100);
GraspState = -1;
GraspControl = new Thread(new ThreadStart(GraspControlThread));
GraspControl.Start();
//newXyzabc = new Coordinate_XYZABC();
//oldXyzabc = new Coordinate_XYZABC();
//newXyzabc.X = float.Parse(X_Value.Text);
//newXyzabc.Y = float.Parse(Y_Value.Text);
//newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
//newXyzabc.A = float.Parse(A_Value.Text);
//newXyzabc.B = float.Parse(B_Value.Text);
//newXyzabc.C = float.Parse(C_Value.Text);
//oldXyzabc.X = float.Parse(X_Value.Text);
//oldXyzabc.Y = float.Parse(Y_Value.Text);
//oldXyzabc.Z = float.Parse(Z_Value.Text);
//oldXyzabc.A = float.Parse(A_Value.Text);
//oldXyzabc.B = float.Parse(B_Value.Text);
//oldXyzabc.C = float.Parse(C_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
// myListBox("Error : Xyzabc Out of limited!!", ListMsg);
//oldXyzabc = null;
//newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[1];
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
IsArmCanMove = true;
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 9;
}
break;
}
default:
{
break;
}
}
}
