diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index f33ab78..01a637e 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -1044,10 +1044,6 @@ namespace HitBotCSharpDemo // 在UI线程中显示图像 this.Invoke(new Action(() => DisplayDetectionResult(receivedImagePath))); } - - // 删除临时图像文件 - //if (File.Exists(imagePath)) - // File.Delete(imagePath); } // 等待1分钟 @@ -1154,7 +1150,7 @@ namespace HitBotCSharpDemo Array.Reverse(heightBuffer); receivedHeight = BitConverter.ToSingle(heightBuffer, 0); - //MessageBox.Show($"width:{receivedWidth}, height:{receivedHeight}"); + MessageBox.Show($"width:{receivedWidth}, height:{receivedHeight}"); // 接收图像数据 byte[] imageBuffer = new byte[imageSize]; diff --git a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt index 59a4e88..1f81186 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt +++ b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt @@ -1,2 +1,2 @@ -Exposure=80000 -Gain=0 +Exposure=90000 +Gain=1 diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index a5be3b1..491d942 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb index 726303d..b76b33b 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611151026.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611151026.jpg deleted file mode 100644 index c9a8bec..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611151026.jpg and /dev/null differ diff --git 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differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152422.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152422.jpg deleted file mode 100644 index 0ae8187..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152422.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152434.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152434.jpg deleted file mode 100644 index 2a9f2ec..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152434.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152525.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611152525.jpg deleted file mode 100644 index 5c4bcb3..0000000 Binary files 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a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152533.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152533.jpg deleted file mode 100644 index 3104fe5..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152533.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152548.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152548.jpg deleted file mode 100644 index fb63e8c..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152548.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152643.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611152643.jpg deleted file mode 100644 index 9b9e713..0000000 Binary files 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100644 index 3419c37..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611153534.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog index fd99a32..9b41d29 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog @@ -839,3 +839,252 @@ 2025-06-11 15:35:39.522 trail_number4.822001 2025-06-11 15:35:39.522 tcp_distance 482.200104 2025-06-11 15:35:39.523 angle1_1 = -11.002701 angle2_1 = 84.112297 z1 = -75.472900 r1 = -1005.720886 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:43:02.230 SDK_VERSION_V2.0.0.29_Release +2025-06-11 15:43:02.231 robot connected +2025-06-11 15:43:02.231 26 +2025-06-11 15:43:02.231 current generation=26 +2025-06-11 15:43:02.735 0x1a +2025-06-11 15:43:03.603 initial joint2 1021898 +2025-06-11 15:43:03.604 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 15:43:03.604 robot WritePID +2025-06-11 15:43:03.919 initial joint1 -924765 +2025-06-11 15:43:03.970 initial joint2 1021899 +2025-06-11 15:43:04.021 initial joint3 -219826 +2025-06-11 15:43:04.072 initial joint4 -23381086 +2025-06-11 15:43:04.088 initial joint1 -924764 +2025-06-11 15:43:04.137 initial joint2 1021900 +2025-06-11 15:43:04.204 initial joint3 -219826 +2025-06-11 15:43:04.238 initial joint4 -23381087 +2025-06-11 15:43:04.271 initial joint1 -924774 +2025-06-11 15:43:04.311 initial joint2 1021902 +2025-06-11 15:43:04.354 initial joint3 -219829 +2025-06-11 15:43:04.404 initial joint4 -23381090 +2025-06-11 15:43:06.543 initial_thread initialized +2025-06-11 15:43:06.543 servo enable +2025-06-11 15:43:06.544 brake open +2025-06-11 15:43:06.544 set_brake_state 0 1 +2025-06-11 15:43:06.758 robot initialized +2025-06-11 15:43:07.327 get_scara_param -63.498901 35.084202 -75.473297 -1005.719727 +2025-06-11 15:43:07.328 get_scara_real_coor -63.499901 35.084202 -75.472603 -1005.720703 +2025-06-11 15:43:07.328 set_first_position_after_initial +2025-06-11 15:43:07.330 movej_old start_pos: -63.498901 35.084202 -75.473297 -1005.719727 end_pos: -63.498901 35.084202 -75.473297 -1005.719727 org_sp 10.000000 end_sp 10.000000 +2025-06-11 15:43:07.611 J3 Belt Meilage=40.903053km +2025-06-11 15:43:11.324 30 30 30 30 +2025-06-11 15:43:11.324 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-11 15:43:11.329 goal_angle -87.199585 152.604431 +2025-06-11 15:43:11.329 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-11 15:43:11.329 z1 -75.473297 z2 -4.457100 +2025-06-11 15:43:11.329 angle1_1 -63.498901 angle2_1 35.084202 z1 -75.473297 r1 -1005.719727 +2025-06-11 15:43:11.329 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-11 15:43:11.329 speed 100.000000 +2025-06-11 15:43:11.329 tcp_distance 346.690033 +2025-06-11 15:43:11.330 new_end_speed 100.000000 j1_acc_t 1.733450 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.954351 +2025-06-11 15:43:11.330 new_end_speed 100.000000 j2_acc_t 1.733450 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.151398 +2025-06-11 15:43:11.330 new_end_speed 100.000000 j3_acc_t 1.733450 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.808884 +2025-06-11 15:43:11.330 new_end_speed 100.000000 j4_acc_t 1.733450 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.007670 +2025-06-11 15:43:11.330 end_speed 100.000000 +2025-06-11 15:43:11.330 trail_number3.466900 +2025-06-11 15:43:11.330 tcp_distance 346.690033 +2025-06-11 15:43:11.331 angle1_1 = -63.498901 angle2_1 = 35.084202 z1 = -75.473297 r1 = -1005.719727 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044 +2025-06-11 15:51:56.162 SDK_VERSION_V2.0.0.29_Release +2025-06-11 15:51:56.162 robot connected +2025-06-11 15:51:56.162 26 +2025-06-11 15:51:56.162 current generation=26 +2025-06-11 15:51:56.666 0x1a +2025-06-11 15:51:57.501 initial joint2 4444934 +2025-06-11 15:51:57.501 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 15:51:57.501 robot WritePID +2025-06-11 15:51:57.818 initial joint1 -1269935 +2025-06-11 15:51:57.869 initial joint2 4444932 +2025-06-11 15:51:57.915 initial joint3 -12991 +2025-06-11 15:51:57.967 initial joint4 -25056187 +2025-06-11 15:51:57.983 initial joint1 -1269935 +2025-06-11 15:51:58.049 initial joint2 4444934 +2025-06-11 15:51:58.086 initial joint3 -12991 +2025-06-11 15:51:58.153 initial joint4 -25056188 +2025-06-11 15:51:58.169 initial joint1 -1269935 +2025-06-11 15:51:58.220 initial joint2 4444936 +2025-06-11 15:51:58.268 initial joint3 -12991 +2025-06-11 15:51:58.319 initial joint4 -25056188 +2025-06-11 15:52:00.420 initial_thread initialized +2025-06-11 15:52:00.420 servo enable +2025-06-11 15:52:00.421 brake open +2025-06-11 15:52:00.421 set_brake_state 0 1 +2025-06-11 15:52:00.623 robot initialized +2025-06-11 15:52:01.175 get_scara_param -87.199501 152.604904 -4.460400 -1027.919678 +2025-06-11 15:52:01.175 get_scara_real_coor -87.199501 152.604797 -4.460100 -1027.919922 +2025-06-11 15:52:01.175 λɢ +2025-06-11 15:52:01.175 position -1269934.750000 4444940.000000 -12991.857422 -25056186.000000 -917530.375000 1035455.937500 -219811.140625 -23399966.000000 +2025-06-11 15:52:01.176 speed 24197.687500 117055.343750 71005.765625 68234.164063 +2025-06-11 15:52:01.176 set_first_position_after_initial +2025-06-11 15:52:01.176 movej_old start_pos: -87.199501 152.604904 -4.460400 -1027.919678 end_pos: -87.199501 152.604904 -4.460400 -1027.919678 org_sp 10.000000 end_sp 10.000000 +2025-06-11 15:52:01.459 J3 Belt Meilage=40.903183km +2025-06-11 15:52:08.261 30 30 30 30 +2025-06-11 15:52:08.262 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:52:08.262 goal_angle -63.500324 35.083988 +2025-06-11 15:52:08.263 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:52:08.263 z1 -4.460400 z2 -75.466103 +2025-06-11 15:52:08.263 angle1_1 -87.199501 angle2_1 152.604904 z1 -4.460400 r1 -1027.919678 +2025-06-11 15:52:08.263 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:52:08.263 speed 100.000000 +2025-06-11 15:52:08.264 tcp_distance 347.516144 +2025-06-11 15:52:08.264 new_end_speed 100.000000 j1_acc_t 1.737581 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917852 +2025-06-11 15:52:08.264 new_end_speed 100.000000 j2_acc_t 1.737581 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975555 +2025-06-11 15:52:08.264 new_end_speed 100.000000 j3_acc_t 1.737581 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695755 +2025-06-11 15:52:08.264 new_end_speed 100.000000 j4_acc_t 1.737581 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973333 +2025-06-11 15:52:08.264 end_speed 100.000000 +2025-06-11 15:52:08.265 trail_number3.475162 +2025-06-11 15:52:08.265 tcp_distance 347.516144 +2025-06-11 15:52:08.265 angle1_1 = -87.199501 angle2_1 = 152.604904 z1 = -4.460400 r1 = -1027.919678 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:52:21.043 30 30 30 30 +2025-06-11 15:52:21.043 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:52:21.045 goal_angle -67.226128 86.401024 +2025-06-11 15:52:21.045 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:52:21.045 z1 -75.466103 z2 -75.466103 +2025-06-11 15:52:21.045 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:52:21.046 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:52:21.046 speed 100.000000 +2025-06-11 15:52:21.046 tcp_distance 158.906982 +2025-06-11 15:52:21.046 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908 +2025-06-11 15:52:21.046 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578 +2025-06-11 15:52:21.046 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 15:52:21.046 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 15:52:21.046 end_speed 100.000000 +2025-06-11 15:52:21.047 trail_number1.589070 +2025-06-11 15:52:21.047 tcp_distance 158.906982 +2025-06-11 15:52:21.047 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:52:31.683 30 30 30 30 +2025-06-11 15:52:31.683 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:52:31.683 goal_angle -44.911705 98.661697 +2025-06-11 15:52:31.683 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:52:31.683 z1 -75.466103 z2 -75.466103 +2025-06-11 15:52:31.683 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:52:31.683 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:52:31.683 speed 100.000000 +2025-06-11 15:52:31.683 tcp_distance 144.069748 +2025-06-11 15:52:31.683 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371 +2025-06-11 15:52:31.683 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140 +2025-06-11 15:52:31.683 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 15:52:31.689 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 15:52:31.689 end_speed 100.000000 +2025-06-11 15:52:31.689 trail_number1.440697 +2025-06-11 15:52:31.689 tcp_distance 144.069748 +2025-06-11 15:52:31.689 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:52:40.684 30 30 30 30 +2025-06-11 15:52:40.684 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:52:40.684 goal_angle -11.002804 84.112190 +2025-06-11 15:52:40.684 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:52:40.684 z1 -75.466103 z2 -75.466103 +2025-06-11 15:52:40.684 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:52:40.684 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:52:40.684 speed 100.000000 +2025-06-11 15:52:40.684 tcp_distance 144.322098 +2025-06-11 15:52:40.684 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920 +2025-06-11 15:52:40.686 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773 +2025-06-11 15:52:40.686 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 15:52:40.686 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 15:52:40.686 end_speed 100.000000 +2025-06-11 15:52:40.686 trail_number1.443221 +2025-06-11 15:52:40.686 tcp_distance 144.322098 +2025-06-11 15:52:40.687 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:53:08.833 30 30 30 30 +2025-06-11 15:53:08.833 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:53:08.833 goal_angle -44.911705 98.661697 +2025-06-11 15:53:08.833 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:53:08.835 z1 -75.466103 z2 -75.466103 +2025-06-11 15:53:08.835 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:53:08.835 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:53:08.835 speed 100.000000 +2025-06-11 15:53:08.835 tcp_distance 144.406967 +2025-06-11 15:53:08.835 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715 +2025-06-11 15:53:08.836 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812 +2025-06-11 15:53:08.836 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 15:53:08.836 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 15:53:08.836 end_speed 100.000000 +2025-06-11 15:53:08.836 trail_number1.444070 +2025-06-11 15:53:08.836 tcp_distance 144.406967 +2025-06-11 15:53:08.837 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:53:11.125 30 30 30 30 +2025-06-11 15:53:11.126 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:53:11.126 goal_angle -67.226128 86.401024 +2025-06-11 15:53:11.126 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:53:11.126 z1 -75.466103 z2 -75.466103 +2025-06-11 15:53:11.126 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:53:11.127 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:53:11.127 speed 100.000000 +2025-06-11 15:53:11.127 tcp_distance 143.985626 +2025-06-11 15:53:11.127 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131 +2025-06-11 15:53:11.127 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997 +2025-06-11 15:53:11.127 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 15:53:11.128 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 15:53:11.128 end_speed 100.000000 +2025-06-11 15:53:11.128 trail_number1.439856 +2025-06-11 15:53:11.128 tcp_distance 143.985626 +2025-06-11 15:53:11.129 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:53:13.027 30 30 30 30 +2025-06-11 15:53:13.027 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 15:53:13.027 goal_angle -63.500324 35.083988 +2025-06-11 15:53:13.027 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 15:53:13.027 z1 -75.466103 z2 -75.466103 +2025-06-11 15:53:13.027 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:53:13.027 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008 +2025-06-11 15:53:13.027 speed 100.000000 +2025-06-11 15:53:13.027 tcp_distance 158.969009 +2025-06-11 15:53:13.030 new_end_speed 100.000000 j1_acc_t 0.794845 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.126908 +2025-06-11 15:53:13.030 new_end_speed 100.000000 j2_acc_t 0.794845 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.615028 +2025-06-11 15:53:13.030 new_end_speed 100.000000 j3_acc_t 0.794845 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 15:53:13.030 new_end_speed 100.000000 j4_acc_t 0.794845 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 15:53:13.030 end_speed 100.000000 +2025-06-11 15:53:13.030 trail_number1.589690 +2025-06-11 15:53:13.030 tcp_distance 158.969009 +2025-06-11 15:53:13.031 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 15:53:24.691 30 30 30 30 +2025-06-11 15:53:24.692 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-11 15:53:24.692 goal_angle -87.199585 152.604431 +2025-06-11 15:53:24.692 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-11 15:53:24.692 z1 -75.466103 z2 -4.457100 +2025-06-11 15:53:24.692 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008 +2025-06-11 15:53:24.692 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-11 15:53:24.692 speed 100.000000 +2025-06-11 15:53:24.692 tcp_distance 346.692505 +2025-06-11 15:53:24.692 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341 +2025-06-11 15:53:24.694 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970 +2025-06-11 15:53:24.694 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005 +2025-06-11 15:53:24.694 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761 +2025-06-11 15:53:24.694 end_speed 100.000000 +2025-06-11 15:53:24.694 trail_number3.466925 +2025-06-11 15:53:24.694 tcp_distance 346.692505 +2025-06-11 15:53:24.694 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044 +2025-06-11 15:55:49.028 SDK_VERSION_V2.0.0.29_Release +2025-06-11 15:55:49.028 robot connected +2025-06-11 15:55:49.028 26 +2025-06-11 15:55:49.028 current generation=26 +2025-06-11 15:55:49.545 0x1a +2025-06-11 15:55:50.435 initial joint2 4444931 +2025-06-11 15:55:50.435 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 15:55:50.435 robot WritePID +2025-06-11 15:55:50.748 initial joint1 -1269935 +2025-06-11 15:55:50.814 initial joint2 4444931 +2025-06-11 15:55:50.855 initial joint3 -12992 +2025-06-11 15:55:50.896 initial joint4 -25056186 +2025-06-11 15:55:50.915 initial joint1 -1269935 +2025-06-11 15:55:50.964 initial joint2 4444932 +2025-06-11 15:55:51.014 initial joint3 -12992 +2025-06-11 15:55:51.064 initial joint4 -25056187 +2025-06-11 15:55:51.069 initial joint1 -1269935 +2025-06-11 15:55:51.132 initial joint2 4444933 +2025-06-11 15:55:51.182 initial joint3 -12993 +2025-06-11 15:55:51.232 initial joint4 -25056188 +2025-06-11 15:55:53.421 initial_thread initialized +2025-06-11 15:55:53.421 servo enable +2025-06-11 15:55:53.421 brake open +2025-06-11 15:55:53.421 set_brake_state 0 1 +2025-06-11 15:55:53.636 robot initialized +2025-06-11 15:55:54.188 get_scara_param -87.199501 152.604706 -4.461100 -1027.919922 +2025-06-11 15:55:54.188 get_scara_real_coor -87.199501 152.604706 -4.461100 -1027.919922 +2025-06-11 15:55:54.188 λɢ +2025-06-11 15:55:54.188 position -1269934.750000 4444934.500000 -12993.895508 -25056190.000000 -924849.750000 1023527.187500 -219810.953125 -23381802.000000 +2025-06-11 15:55:54.190 speed 23695.107422 117464.695313 71005.007813 68982.664063 +2025-06-11 15:55:54.190 set_first_position_after_initial +2025-06-11 15:55:54.190 movej_old start_pos: -87.199501 152.604721 -4.461100 -1027.919922 end_pos: -87.199501 152.604721 -4.461100 -1027.919922 org_sp 10.000000 end_sp 10.000000 +2025-06-11 15:55:54.488 J3 Belt Meilage=40.903347km diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe index a5be3b1..491d942 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb index 726303d..b76b33b 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb differ