private void timer1_Tick(object sender, EventArgs e)
{
if (aRTClient.Status == RTClientStatus.Syncing)
{
RTClientObj aObj = aRTClient.getRTClientObj();
textBox5.Text = aObj.actual_TCP_pose.ToString();
}
if (aRTDE.isSynchronizing)
{
RTDEOutputObj OutObj = aRTDE.getOutputObj();
textBox7.Text = "Actual tcp pose: " + OutObj.actual_TCP_pose.ToString() + "\n";
textBox7.Text = textBox7.Text + " Elbow position: " + OutObj.elbow_position.ToString();
}
}
/// <summary>
/// 计时器触发
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private IEnumerator timer1_Tick()
{
while (true)
{
#region 读取机器人状态
Vector6 <double> l4 = null;
//Vector6<double> j = null;
if (aRTClient.Status == RTClientStatus.Syncing)
{
RTClientObj aRTClientObj = aRTClient.getRTClientObj(); //读取aRTClientObj
double currenttime = aRTClientObj.timestamp;
Vector6 <double> a = aRTClientObj.actual_current;
ulong b = aRTClientObj.actual_digital_input_bits;
ulong c = aRTClientObj.actual_digital_output_bits;
double d = aRTClientObj.actual_execution_time;
Vector6 <double> e1 = aRTClientObj.actual_joint_voltage;//真实关节电压
double f = aRTClientObj.actual_main_voltage;
double g = aRTClientObj.actual_momentum;
double h = aRTClientObj.actual_momentum_internal1;
double i = aRTClientObj.actual_momentum_internal2;
j = aRTClientObj.actual_q; //关节真实位置
Vector6 <double> k = aRTClientObj.actual_qd; //关节真实速度
double l = aRTClientObj.actual_robot_current; //机器人真实电流
double l2 = aRTClientObj.actual_robot_voltage; //机器人真实市电电压
Vector6 <double> l3 = aRTClientObj.actual_TCP_force; //tcp的真实受力
l4 = aRTClientObj.actual_TCP_pose; //TCP的真实位置
Vector6 <double> l5 = aRTClientObj.actual_TCP_speed; //tcp的真实速度
Vector3 <double> l6 = aRTClientObj.actual_tool_accelerometer;
Vector6 <double> l7 = aRTClientObj.actual_tool_accelerometer_internal;
double l8 = aRTClientObj.elbow_position;
double l9 = aRTClientObj.elbow_velocity;
Vector6 <double> l10 = aRTClientObj.joint_control_output;
Vector6 <int> l11 = aRTClientObj.joint_mode;
Vector6 <double> l12 = aRTClientObj.joint_temperatures;
double l13 = aRTClientObj.program_state;
double l14 = aRTClientObj.robot_mode;
double l15 = aRTClientObj.safety_mode;
Vector6 <double> l16 = aRTClientObj.safety_mode_internal;
double l17 = aRTClientObj.speed_scaling;
Vector6 <double> l18 = aRTClientObj.target_current;
Vector6 <double> l19 = aRTClientObj.target_moment;
Vector6 <double> l20 = aRTClientObj.target_q; //关节目标位置，单位是弧度
Vector6 <double> l21 = aRTClientObj.target_qd; //关节目标速度
Vector6 <double> l22 = aRTClientObj.target_qdd; //关节目标加速度
Vector6 <double> l23 = aRTClientObj.target_TCP_pose; //TCP目标位姿
Vector6 <double> l24 = aRTClientObj.target_TCP_speed; //TCP目标速度
double l25 = aRTClientObj.test_value;
//使用aRTClientObj中的数据
//aRTClient.sendScript("movel(p[" + j1.ToString() + ",0.2,0.3,0,0,0],a=0.8,v=0.5)"); //发送脚本给机器人；
//aRTClient.sendScript("rv=[1,2,1]"); //发送脚本给机器人
}
//TCP当前位置
if (l4 != null)
{
//ActTCPTB_X.Text = (l4.X * 1000).ToString("0.00");
//ActTCPTB_Y.Text = (l4.Y * 1000).ToString("0.00");
//ActTCPTB_Z.Text = (l4.Z * 1000).ToString("0.00");
//ActTCPTB_RX.Text = (l4.Rx * 1000).ToString("0.00");
//ActTCPTB_RY.Text = (l4.Ry * 1000).ToString("0.00");
//ActTCPTB_RZ.Text = (l4.Rz * 1000).ToString("0.00");
}
//关节当前位置
if (j != null)
{
Pos[0].text = (j.X * 180 / PI).ToString("0.00");
Pos[1].text = (j.Y * 180 / PI).ToString("0.00");
Pos[2].text = (j.Z * 180 / PI).ToString("0.00");
Pos[3].text = (j.Rx * 180 / PI).ToString("0.00");
Pos[4].text = (j.Ry * 180 / PI).ToString("0.00");
Pos[5].text = (j.Rz * 180 / PI).ToString("0.00");
}
yield return(new WaitForSeconds(0.1f));
#endregion
}
}