test
This commit is contained in:
@@ -1044,10 +1044,6 @@ namespace HitBotCSharpDemo
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// 在UI线程中显示图像
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// 在UI线程中显示图像
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this.Invoke(new Action(() => DisplayDetectionResult(receivedImagePath)));
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this.Invoke(new Action(() => DisplayDetectionResult(receivedImagePath)));
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}
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}
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// 删除临时图像文件
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//if (File.Exists(imagePath))
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// File.Delete(imagePath);
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}
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}
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// 等待1分钟
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// 等待1分钟
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@@ -1154,7 +1150,7 @@ namespace HitBotCSharpDemo
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Array.Reverse(heightBuffer);
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Array.Reverse(heightBuffer);
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receivedHeight = BitConverter.ToSingle(heightBuffer, 0);
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receivedHeight = BitConverter.ToSingle(heightBuffer, 0);
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//MessageBox.Show($"width:{receivedWidth}, height:{receivedHeight}");
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MessageBox.Show($"width:{receivedWidth}, height:{receivedHeight}");
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// 接收图像数据
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// 接收图像数据
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byte[] imageBuffer = new byte[imageSize];
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byte[] imageBuffer = new byte[imageSize];
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@@ -1,2 +1,2 @@
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Exposure=80000
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Exposure=90000
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Gain=0
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Gain=1
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@@ -839,3 +839,252 @@
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2025-06-11 15:35:39.522 trail_number4.822001
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2025-06-11 15:35:39.522 trail_number4.822001
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2025-06-11 15:35:39.522 tcp_distance 482.200104
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2025-06-11 15:35:39.522 tcp_distance 482.200104
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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
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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
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2025-06-11 15:43:02.230 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 15:43:02.231 robot connected
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2025-06-11 15:43:02.231 26
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2025-06-11 15:43:02.231 current generation=26
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2025-06-11 15:43:02.735 0x1a
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2025-06-11 15:43:03.603 initial joint2 1021898
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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
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2025-06-11 15:43:03.604 robot WritePID
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2025-06-11 15:43:03.919 initial joint1 -924765
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2025-06-11 15:43:03.970 initial joint2 1021899
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2025-06-11 15:43:04.021 initial joint3 -219826
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2025-06-11 15:43:04.072 initial joint4 -23381086
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2025-06-11 15:43:04.088 initial joint1 -924764
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2025-06-11 15:43:04.137 initial joint2 1021900
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2025-06-11 15:43:04.204 initial joint3 -219826
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2025-06-11 15:43:04.238 initial joint4 -23381087
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2025-06-11 15:43:04.271 initial joint1 -924774
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2025-06-11 15:43:04.311 initial joint2 1021902
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2025-06-11 15:43:04.354 initial joint3 -219829
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2025-06-11 15:43:04.404 initial joint4 -23381090
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2025-06-11 15:43:06.543 initial_thread initialized
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2025-06-11 15:43:06.543 servo enable
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2025-06-11 15:43:06.544 brake open
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2025-06-11 15:43:06.544 set_brake_state 0 1
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2025-06-11 15:43:06.758 robot initialized
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2025-06-11 15:43:07.327 get_scara_param -63.498901 35.084202 -75.473297 -1005.719727
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2025-06-11 15:43:07.328 get_scara_real_coor -63.499901 35.084202 -75.472603 -1005.720703
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2025-06-11 15:43:07.328 set_first_position_after_initial
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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
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2025-06-11 15:43:07.611 J3 Belt Meilage=40.903053km
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2025-06-11 15:43:11.324 30 30 30 30
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2025-06-11 15:43:11.324 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
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2025-06-11 15:43:11.329 goal_angle -87.199585 152.604431
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2025-06-11 15:43:11.329 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
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2025-06-11 15:43:11.329 z1 -75.473297 z2 -4.457100
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2025-06-11 15:43:11.329 angle1_1 -63.498901 angle2_1 35.084202 z1 -75.473297 r1 -1005.719727
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2025-06-11 15:43:11.329 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
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2025-06-11 15:43:11.329 speed 100.000000
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2025-06-11 15:43:11.329 tcp_distance 346.690033
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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
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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
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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
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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
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2025-06-11 15:43:11.330 end_speed 100.000000
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2025-06-11 15:43:11.330 trail_number3.466900
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2025-06-11 15:43:11.330 tcp_distance 346.690033
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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
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2025-06-11 15:51:56.162 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 15:51:56.162 robot connected
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2025-06-11 15:51:56.162 26
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2025-06-11 15:51:56.162 current generation=26
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2025-06-11 15:51:56.666 0x1a
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2025-06-11 15:51:57.501 initial joint2 4444934
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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
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2025-06-11 15:51:57.501 robot WritePID
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2025-06-11 15:51:57.818 initial joint1 -1269935
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2025-06-11 15:51:57.869 initial joint2 4444932
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2025-06-11 15:51:57.915 initial joint3 -12991
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2025-06-11 15:51:57.967 initial joint4 -25056187
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2025-06-11 15:51:57.983 initial joint1 -1269935
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2025-06-11 15:51:58.049 initial joint2 4444934
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2025-06-11 15:51:58.086 initial joint3 -12991
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2025-06-11 15:51:58.153 initial joint4 -25056188
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2025-06-11 15:51:58.169 initial joint1 -1269935
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2025-06-11 15:51:58.220 initial joint2 4444936
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2025-06-11 15:51:58.268 initial joint3 -12991
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2025-06-11 15:51:58.319 initial joint4 -25056188
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2025-06-11 15:52:00.420 initial_thread initialized
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2025-06-11 15:52:00.420 servo enable
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2025-06-11 15:52:00.421 brake open
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2025-06-11 15:52:00.421 set_brake_state 0 1
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2025-06-11 15:52:00.623 robot initialized
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2025-06-11 15:52:01.175 get_scara_param -87.199501 152.604904 -4.460400 -1027.919678
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2025-06-11 15:52:01.175 get_scara_real_coor -87.199501 152.604797 -4.460100 -1027.919922
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2025-06-11 15:52:01.175 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
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2025-06-11 15:52:01.175 position -1269934.750000 4444940.000000 -12991.857422 -25056186.000000 -917530.375000 1035455.937500 -219811.140625 -23399966.000000
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2025-06-11 15:52:01.176 speed 24197.687500 117055.343750 71005.765625 68234.164063
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2025-06-11 15:52:01.176 set_first_position_after_initial
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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
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2025-06-11 15:52:01.459 J3 Belt Meilage=40.903183km
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2025-06-11 15:52:08.261 30 30 30 30
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2025-06-11 15:52:08.262 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-11 15:52:08.262 goal_angle -63.500324 35.083988
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2025-06-11 15:52:08.263 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-11 15:52:08.263 z1 -4.460400 z2 -75.466103
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2025-06-11 15:52:08.263 angle1_1 -87.199501 angle2_1 152.604904 z1 -4.460400 r1 -1027.919678
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2025-06-11 15:52:08.263 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
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2025-06-11 15:52:08.263 speed 100.000000
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2025-06-11 15:52:08.264 tcp_distance 347.516144
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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
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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
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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
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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
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2025-06-11 15:52:08.264 end_speed 100.000000
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2025-06-11 15:52:08.265 trail_number3.475162
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2025-06-11 15:52:08.265 tcp_distance 347.516144
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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
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2025-06-11 15:52:21.043 30 30 30 30
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2025-06-11 15:52:21.043 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-11 15:52:21.045 goal_angle -67.226128 86.401024
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2025-06-11 15:52:21.045 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-11 15:52:21.045 z1 -75.466103 z2 -75.466103
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2025-06-11 15:52:21.045 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
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2025-06-11 15:52:21.046 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
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2025-06-11 15:52:21.046 speed 100.000000
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2025-06-11 15:52:21.046 tcp_distance 158.906982
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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
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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
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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
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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
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2025-06-11 15:52:21.046 end_speed 100.000000
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2025-06-11 15:52:21.047 trail_number1.589070
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2025-06-11 15:52:21.047 tcp_distance 158.906982
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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
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2025-06-11 15:52:31.683 30 30 30 30
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2025-06-11 15:52:31.683 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-11 15:52:31.683 goal_angle -44.911705 98.661697
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2025-06-11 15:52:31.683 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-11 15:52:31.683 z1 -75.466103 z2 -75.466103
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2025-06-11 15:52:31.683 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
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2025-06-11 15:52:31.683 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
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2025-06-11 15:52:31.683 speed 100.000000
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2025-06-11 15:52:31.683 tcp_distance 144.069748
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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
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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
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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
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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
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2025-06-11 15:52:31.689 end_speed 100.000000
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2025-06-11 15:52:31.689 trail_number1.440697
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2025-06-11 15:52:31.689 tcp_distance 144.069748
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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
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2025-06-11 15:52:40.684 30 30 30 30
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2025-06-11 15:52:40.684 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-11 15:52:40.684 goal_angle -11.002804 84.112190
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2025-06-11 15:52:40.684 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-11 15:52:40.684 z1 -75.466103 z2 -75.466103
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2025-06-11 15:52:40.684 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
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2025-06-11 15:52:40.684 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
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2025-06-11 15:52:40.684 speed 100.000000
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2025-06-11 15:52:40.684 tcp_distance 144.322098
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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
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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
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||||||
|
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 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||||
|
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
|
||||||
|
|||||||
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Binary file not shown.
Reference in New Issue
Block a user