private void btnDraw_Click(object sender, EventArgs e)
{
int[][] que = new int[5][];
for (int i = 0; i < 5; i++)
{
Tranceiver.sendPacket(4, 0, 2, 0, 0, 0, 0, 2, 2, 2);
}
}
public void trackTargetSend(Point center)
{
PointF temp = environment.axis_Image2User(center);
if (Math.Abs(temp.X - CtrledPlant.BlockCenter.X) > TargetDeadzone ||
Math.Abs(temp.Y - CtrledPlant.BlockCenter.Y) > TargetDeadzone)
{
targetSendCount++;
CtrledPlant.BlockCenter = temp;
trackTarget.X = CtrledPlant.BlockCenter.X / 2;
trackTarget.Y = CtrledPlant.BlockCenter.Y;
PointF result = calculatePID(trackTarget);
if (targetSendCount == sendInterval)
{
targetSendCount = 0;
tranceiver.sendPacket(3, 0, dobot.origin_x, result.Y, CtrledPlant.Height + dobot.origin_z,
0, 0, 1, 0, 0);
}
}
}
private void pointSeriesCompare(object pup)
{
List <PickUpPoint> pointSeries = (List <PickUpPoint>)pup;
for (int i = 0; i < pointSeries.Count; i++)
{
if (i == 0)
{
if (pointSeries[i].isGrab == 1)
{
pointSeries[i].MovStyle = 0;
}
}
if (i > 0)
{
if (Convert.ToBoolean(pointSeries[i].isGrab) ^
Convert.ToBoolean(pointSeries[i - 1].isGrab))
{
pointSeries[i].MovStyle = 0;
}
while (true)
{
if (Math.Abs(Tranceiver.retPacket.X - pointSeries[i - 1].X) < 0.1 &&
Math.Abs(Tranceiver.retPacket.Y - pointSeries[i - 1].Y) < 0.1)
{
break;
}
}
}
Tranceiver.sendPacket(3, 0, pointSeries[i].X, pointSeries[i].Y,
Convert.ToSingle(txtHeight.Text) + dobot.origin_z,
0, pointSeries[i].isGrab, pointSeries[i].MovStyle, 0, dobot.Target_PauseTime);
}
Tranceiver.sendPacket("3", "0", dobot.origin_x.ToString(), dobot.origin_y.ToString(),
dobot.origin_z.ToString(), "0", "0", "0", "0", "0");
pointCompare.Abort();
}
private void btnOpenCamera_Click(object sender, EventArgs e)
{
#region if capture is not created, create it now
if (capture == null)
{
try
{
capture = new Capture(1);
capture.ImageGrabbed += ProcessFrame;
}
catch (NullReferenceException excpt)
{
MessageBox.Show(excpt.Message);
}
}
#endregion
if (capture != null)
{
if (captureInProgress)
{
Tranceiver.sendPacket(3, 0, dobot.origin_x, dobot.origin_y, dobot.origin_z, 0, 0, 1, 0, 0);
btnOpenCamera.Text = "Open";
capture.Pause();
btnGrab.Enabled = false;
//tabAlgorithm.Enabled = false;
}
else
{
//Tranceiver.sendPacket(2, 0, 0, 0, 0, 0, 0, 100, 0, 0);
Tranceiver.sendPacket(9, 0, controler.JogMaxSpeed, controler.JogMaxAcc, 30, 50, 100, 200, 0, 30);
btnOpenCamera.Text = "Stop";
capture.Start();
btnGrab.Enabled = true;
tabAlgorithm.Enabled = true;
}
captureInProgress = !captureInProgress;
}
}