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增加设定温度和温度限速功能

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2025-06-18 15:23:15 +08:00
parent 1dc8c88d4a
commit 37685a7c5d
18 changed files with 1823 additions and 410 deletions
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9
HitBotCSharpDemo/CSharpDemo.csproj
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@@ -104,6 +104,12 @@
</ItemGroup>
<ItemGroup>
<Compile Include="CameraManager.cs" />
<Compile Include="ParameterInputForm.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="ParameterInputForm.Designer.cs">
<DependentUpon>ParameterInputForm.cs</DependentUpon>
</Compile>
<Compile Include="ShowForm.cs">
<SubType>Form</SubType>
</Compile>
@@ -113,6 +119,9 @@
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="tempControl.cs" />
<EmbeddedResource Include="ParameterInputForm.resx">
<DependentUpon>ParameterInputForm.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="ShowForm.resx">
<DependentUpon>ShowForm.cs</DependentUpon>
</EmbeddedResource>

55
HitBotCSharpDemo/ParameterInputForm.Designer.cs generated Normal file
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@@ -0,0 +1,55 @@
using System.Drawing;
using System.Windows.Forms;
namespace HitBotCSharpDemo
{
partial class ParameterInputForm
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.SuspendLayout();
//
// ParameterInputForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(450, 225);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog;
this.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "ParameterInputForm";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
this.Text = "参数设置";
this.Load += new System.EventHandler(this.ParameterInputForm_Load_1);
this.ResumeLayout(false);
}
#endregion
}
}

120
HitBotCSharpDemo/ParameterInputForm.cs Normal file
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@@ -0,0 +1,120 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace HitBotCSharpDemo
{
public partial class ParameterInputForm : Form
{
private TextBox textBoxInput;
private Button buttonSave;
private Button buttonCancel;
private Label labelTitle;
public string InputValue { get; private set; }
public ParameterInputForm(string parameterName, string currentValue)
{
InitializeComponent();
InitializeCustomComponents(parameterName, currentValue);
}
private void InitializeCustomComponents(string parameterName, string currentValue)
{
// 标题标签
labelTitle = new Label();
labelTitle.Text = $"设置 {parameterName}:";
labelTitle.Location = new Point(20, 20);
labelTitle.Size = new Size(260, 20);
labelTitle.Font = new Font("Microsoft Sans Serif", 9F, FontStyle.Regular);
this.Controls.Add(labelTitle);
// 输入文本框
textBoxInput = new TextBox();
textBoxInput.Text = currentValue;
textBoxInput.Location = new Point(20, 50);
textBoxInput.Size = new Size(260, 20);
textBoxInput.Font = new Font("Microsoft Sans Serif", 9F, FontStyle.Regular);
// 自动选中所有文本
textBoxInput.SelectAll();
textBoxInput.Focus();
this.Controls.Add(textBoxInput);
// 保存按钮
buttonSave = new Button();
buttonSave.Text = "保存";
buttonSave.Location = new Point(125, 90);
buttonSave.Size = new Size(75, 25);
buttonSave.DialogResult = DialogResult.OK;
buttonSave.Click += ButtonSave_Click;
this.Controls.Add(buttonSave);
// 取消按钮
buttonCancel = new Button();
buttonCancel.Text = "取消";
buttonCancel.Location = new Point(205, 90);
buttonCancel.Size = new Size(75, 25);
buttonCancel.DialogResult = DialogResult.Cancel;
this.Controls.Add(buttonCancel);
// 设置默认按钮和取消按钮
this.AcceptButton = buttonSave;
this.CancelButton = buttonCancel;
// 添加Enter键处理
textBoxInput.KeyPress += TextBoxInput_KeyPress;
}
private void ButtonSave_Click(object sender, EventArgs e)
{
InputValue = textBoxInput.Text.Trim();
// 验证输入
if (string.IsNullOrEmpty(InputValue))
{
MessageBox.Show("请输入数值", "输入错误",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
textBoxInput.Focus();
return;
}
if (!double.TryParse(InputValue, out double value))
{
MessageBox.Show("请输入有效的数字", "输入错误",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
textBoxInput.Focus();
return;
}
this.DialogResult = DialogResult.OK;
this.Close();
}
private void TextBoxInput_KeyPress(object sender, KeyPressEventArgs e)
{
// 按Enter键相当于点击保存按钮
if (e.KeyChar == (char)Keys.Enter)
{
e.Handled = true;
ButtonSave_Click(sender, e);
}
// 按Escape键相当于点击取消按钮
else if (e.KeyChar == (char)Keys.Escape)
{
e.Handled = true;
this.DialogResult = DialogResult.Cancel;
this.Close();
}
}
protected override void OnShown(EventArgs e)
{
base.OnShown(e);
// 确保文本框获得焦点并选中所有文本
textBoxInput.Focus();
textBoxInput.SelectAll();
}
private void ParameterInputForm_Load(object sender, EventArgs e)
{
}
private void ParameterInputForm_Load_1(object sender, EventArgs e)
{
}
}
}

120
HitBotCSharpDemo/ParameterInputForm.resx Normal file
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@@ -0,0 +1,120 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>

488
HitBotCSharpDemo/RobotControl.cs Normal file
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@@ -0,0 +1,488 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using ControlBeanExDll;
using TcpserverExDll;
using System.Drawing;
using System.IO;
using System.Threading;
using System.Windows.Forms;
namespace HitBotCSharpDemo
{
internal class RobotControl
{
private ControlBeanEx robot;
private bool isInit = false;
private Thread thread_Jog_Move;
private bool moveFlag;
private Button currentButton;
private int offset = 2; // 寸动距离
private int offset_jog = 2; // 连续移动单次距离
private static int io_Count = 6; // IO数量
private int[] io_In = new int[io_Count];
private int[] io_Out = new int[io_Count];
private bool[] output_State_Flags = new bool[6] { true, true, true, true, true, true };
// 点位相关
private float[] pos0, pos1, pos2;
private int posHand0, posHand1, posHand2;
private Thread thread_PosMove;
private static object locker_PosMove = new object();
// 相机点位相关
private float[][] cameraPositions;
private string filePath = "Cam_pos_path.txt";
public bool IsInitialized => isInit;
public ControlBeanEx Robot => robot;
public RobotControl()
{
TcpserverEx.net_port_initial();
robot = TcpserverEx.get_robot(74); // 替换为自己的机器的id号
}
public void ScanRobotIDs(ComboBox comboBox)
{
comboBox.Items.Clear();
for (int i = 0; i < 255; i++)
{
ControlBeanEx tempRobot = TcpserverEx.get_robot(i);
if (tempRobot.is_connected())
{
comboBox.Items.Add(i.ToString());
}
}
}
public bool InitializeRobot(string robotId, RichTextBox coordTextBox)
{
coordTextBox.Clear();
if (robot == null) return false;
robot = TcpserverEx.get_robot(int.Parse(robotId));
robot.check_joint(4, false);
if (robot.is_connected())
{
int ret = robot.initial(1, 240); // 修改自己机器的型号
if (ret == 1)
{
robot.unlock_position();
isInit = true;
MessageBox.Show("robot 初始化完成");
return true;
}
else
{
MessageBox.Show("robot 初始化失败，返回值 = " + ret.ToString());
return false;
}
}
else
{
MessageBox.Show("robot 未连接");
return false;
}
}
public void HandleJogMove(Button button, CheckBox inchingCheckBox)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
currentButton = button;
if (inchingCheckBox.Checked) // 寸动模式
{
ExecuteInchingMove(button);
}
// 连续移动由MouseDown事件处理
}
public void StartJogMove(Button button)
{
currentButton = button;
if (currentButton == null) return;
thread_Jog_Move = new Thread(ExecuteContinuousMove);
thread_Jog_Move.IsBackground = true;
thread_Jog_Move.Start();
}
public void StopJogMove(CheckBox inchingCheckBox)
{
if (robot != null && !inchingCheckBox.Checked)
{
robot.new_stop_move();
}
currentButton = null;
moveFlag = false;
}
public void GetJointState(ComboBox jointComboBox, RichTextBox displayTextBox)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
int jointNumber = int.Parse(jointComboBox.SelectedItem.ToString());
int ret = robot.get_joint_state(jointNumber);
displayTextBox.Clear();
switch (ret)
{
case 1:
displayTextBox.SelectedText = "关节" + jointNumber + "正常";
break;
default:
displayTextBox.SelectedText = "关节" + jointNumber + "异常！异常代码：" + ret + ".（详情请查看API文档）";
break;
}
}
public void UpdateIOAndCoordinates(RichTextBox coordTextBox, Label[] inputLabels, Label[] outputLabels)
{
if (!isInit) return;
robot.get_scara_param();
coordTextBox.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " +
"R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
// 更新IO状态
for (int i = 0; i < io_Count; i++)
{
io_In[i] = robot.get_digital_in(i);
io_Out[i] = robot.get_digital_out(i);
}
// 更新输入标签颜色
for (int i = 0; i < io_Count; i++)
{
Color newColor = GetIOColor(io_In[i]);
if (inputLabels[i].BackColor != newColor)
inputLabels[i].BackColor = newColor;
}
// 更新输出标签颜色
for (int i = 0; i < io_Count; i++)
{
Color newColor = GetIOColor(io_Out[i]);
if (outputLabels[i].BackColor != newColor)
outputLabels[i].BackColor = newColor;
}
}
public void ToggleDigitalOutput(Label outputLabel, Label[] allOutputLabels)
{
int outputNum = GetOutputNumber(outputLabel, allOutputLabels);
if (outputNum >= 0)
{
robot.set_digital_out(outputNum, output_State_Flags[outputNum]);
output_State_Flags[outputNum] = !output_State_Flags[outputNum];
}
}
public void SetPosition(int positionIndex, RichTextBox displayTextBox)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
robot.get_scara_param();
displayTextBox.Clear();
displayTextBox.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " +
"R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
switch (positionIndex)
{
case 0:
pos0 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
posHand0 = robot.get_lr();
break;
case 1:
pos1 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
posHand1 = robot.get_lr();
break;
case 2:
pos2 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
posHand2 = robot.get_lr();
break;
}
}
public void StartPositionLoop(Button pauseBtn, Button resumeBtn)
{
pauseBtn.Enabled = true;
resumeBtn.Enabled = true;
if (pos0 == null || pos1 == null || pos2 == null)
{
MessageBox.Show("请先设置3个点位！");
return;
}
thread_PosMove = new Thread(ExecutePositionLoop);
thread_PosMove.IsBackground = false;
thread_PosMove.Start();
}
public void PauseMove(Button stopBtn)
{
stopBtn.Enabled = false;
robot.pause_move();
}
public void ResumeMove(Button stopBtn)
{
stopBtn.Enabled = true;
robot.resume_move();
}
public void StopMove(Button pauseBtn, Button resumeBtn)
{
pauseBtn.Enabled = false;
resumeBtn.Enabled = false;
robot.new_stop_move();
thread_PosMove.Abort();
}
public void HomeJoint(Button jointButton)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
int jointNumber = GetJointNumber(jointButton);
if (jointNumber > 0)
{
robot.joint_home(jointNumber);
}
}
//public void LoadCameraPositions()
//{
// try
// {
// if (File.Exists(filePath))
// {
// string[] lines = File.ReadAllLines(filePath);
// cameraPositions = new float[5][]; // 存储5个点位
// int positionIndex = 0;
// foreach (string line in lines)
// {
// // 跳过注释行（以#开头）和空行
// if (string.IsNullOrWhiteSpace(line) || line.StartsWith("#"))
// continue;
// if (positionIndex < 5)
// {
// string[] coords = line.Split(',');
// if (coords.Length == 4)
// {
// cameraPositions[positionIndex] = new float[4];
// for (int i = 0; i < 4; i++)
// {
// if (float.TryParse(coords[i].Trim(), out float value))
// {
// cameraPositions[positionIndex][i] = value;
// }
// else
// {
// MessageBox.Show($"解析第{positionIndex + 1}行第{i + 1}个坐标时出错：{coords[i]}");
// return;
// }
// }
// positionIndex++;
// }
// else
// {
// MessageBox.Show($"第{positionIndex + 1}行坐标格式错误，应该包含4个值(X,Y,Z,R)");
// return;
// }
// }
// }
// }
// else
// {
// MessageBox.Show($"未找到文件：{filePath}");
// }
// }
// catch (Exception ex)
// {
// MessageBox.Show($"加载点位文件时出错：{ex.Message}");
// }
//}
public void MoveToCameraPosition(int positionIndex)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
if (cameraPositions == null || positionIndex >= cameraPositions.Length || cameraPositions[positionIndex] == null)
{
MessageBox.Show($"点位{positionIndex + 1}数据未加载或无效");
return;
}
try
{
// 获取当前位置参数
robot.get_scara_param();
int currentHand = robot.get_lr(); // 使用当前手系
float x = cameraPositions[positionIndex][0];
float y = cameraPositions[positionIndex][1];
float z = cameraPositions[positionIndex][2];
float r = cameraPositions[positionIndex][3];
// 设置运动参数
robot.new_set_acc(30, 30, 30, 30);
// 移动到指定位置
int result = robot.new_movej_xyz_lr(x, y, z, r, 100, 0, currentHand);
if (result != 1)
{
MessageBox.Show($"移动到点位{positionIndex + 1}失败，返回值：{result}");
}
}
catch (Exception ex)
{
MessageBox.Show($"移动到点位{positionIndex + 1}时出错：{ex.Message}");
}
}
public void WaitForRobotStop()
{
if (!isInit) return;
while (true)
{
robot.get_scara_param();
if (!robot.move_flag) // 机械臂处于静止状态
{
break;
}
Thread.Sleep(100); // 每100ms检查一次
}
}
private void ExecuteInchingMove(Button button)
{
robot.get_scara_param();
int hand = robot.get_lr();
float speed = 2;
robot.new_set_acc(30, 30, 30, 30);
string buttonName = button.Name;
switch (buttonName)
{
case "btn_XP":
robot.new_movej_xyz_lr(robot.x + offset, robot.y, robot.z, robot.rotation, speed, 0, hand);
break;
case "btn_XN":
robot.new_movej_xyz_lr(robot.x - offset, robot.y, robot.z, robot.rotation, speed, 0, hand);
break;
case "btn_YP":
robot.new_movej_xyz_lr(robot.x, robot.y + offset, robot.z, robot.rotation, speed, 0, hand);
break;
case "btn_YN":
robot.new_movej_xyz_lr(robot.x, robot.y - offset, robot.z, robot.rotation, speed, 0, hand);
break;
case "btn_ZP":
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z + offset, robot.rotation, speed, 0, hand);
break;
case "btn_ZN":
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z - offset, robot.rotation, speed, 0, hand);
break;
case "btn_RP":
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation + offset, speed, 0, hand);
break;
case "btn_RN":
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation - offset, speed, 0, hand);
break;
}
}
private void ExecuteContinuousMove()
{
moveFlag = true;
while (moveFlag && currentButton != null)
{
string buttonName = currentButton.Name;
switch (buttonName)
{
case "btn_XP":
robot.jog_move2(offset_jog, 0, 0, 0, 1);
break;
case "btn_XN":
robot.jog_move2(-offset_jog, 0, 0, 0, 1);
break;
case "btn_YP":
robot.jog_move2(0, offset_jog, 0, 0, 1);
break;
case "btn_YN":
robot.jog_move2(0, -offset_jog, 0, 0, 1);
break;
case "btn_ZP":
robot.jog_move2(0, 0, offset_jog, 0, 1);
break;
case "btn_ZN":
robot.jog_move2(0, 0, -offset_jog, 0, 1);
break;
case "btn_RP":
robot.jog_move2(0, 0, 0, offset_jog, 1);
break;
case "btn_RN":
robot.jog_move2(0, 0, 0, -offset_jog, 1);
break;
}
Thread.Sleep(200);
}
robot.wait_stop();
}
private void ExecutePositionLoop()
{
lock (locker_PosMove)
{
while (true)
{
robot.resume_move();
robot.get_scara_param();
robot.new_movej_xyz_lr(pos0[0], pos0[1], pos0[2], pos0[3], 50, 0, posHand0);
robot.wait_stop();
robot.new_movej_xyz_lr(pos1[0], pos1[1], pos1[2], pos1[3], 50, 0, posHand1);
robot.wait_stop();
robot.new_movej_xyz_lr(pos2[0], pos2[1], pos2[2], pos2[3], 50, 0, posHand2);
robot.wait_stop();
}
}
}
private Color GetIOColor(int ioState)
{
switch (ioState)
{
case -1:
case 3:
return Color.Gray;
case 0:
return Color.Green;
case 1:
return Color.Red;
default:
return Color.Gray;
}
}
private int GetOutputNumber(Label outputLabel, Label[] allOutputLabels)
{
for (int i = 0; i < allOutputLabels.Length; i++)
{
if (outputLabel == allOutputLabels[i])
{
return i;
}
}
return -1;
}
private int GetJointNumber(Button jointButton)
{
string buttonName = jointButton.Name;
switch (buttonName)
{
case "btn_joint1":
return 1;
case "btn_joint2":
return 2;
case "btn_joint3":
return 3;
case "btn_joint4":
return 4;
default:
return -1;
}
}
}
}

895
HitBotCSharpDemo/ShowForm.Designer.cs generated
View File

@@ -120,6 +120,50 @@
this.cam_btn_2 = new System.Windows.Forms.Button();
this.cam_btn_1 = new System.Windows.Forms.Button();
this.tap_tempCtrl = new System.Windows.Forms.TabPage();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.textBox9 = new System.Windows.Forms.TextBox();
this.label26 = new System.Windows.Forms.Label();
this.label18 = new System.Windows.Forms.Label();
this.button10 = new System.Windows.Forms.Button();
this.button11 = new System.Windows.Forms.Button();
this.textBox5 = new System.Windows.Forms.TextBox();
this.label19 = new System.Windows.Forms.Label();
this.label20 = new System.Windows.Forms.Label();
this.label21 = new System.Windows.Forms.Label();
this.label22 = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.textBox8 = new System.Windows.Forms.TextBox();
this.label25 = new System.Windows.Forms.Label();
this.label13 = new System.Windows.Forms.Label();
this.button8 = new System.Windows.Forms.Button();
this.button9 = new System.Windows.Forms.Button();
this.textBox4 = new System.Windows.Forms.TextBox();
this.label14 = new System.Windows.Forms.Label();
this.label15 = new System.Windows.Forms.Label();
this.label16 = new System.Windows.Forms.Label();
this.label17 = new System.Windows.Forms.Label();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.textBox7 = new System.Windows.Forms.TextBox();
this.label24 = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label();
this.button6 = new System.Windows.Forms.Button();
this.button7 = new System.Windows.Forms.Button();
this.textBox3 = new System.Windows.Forms.TextBox();
this.label9 = new System.Windows.Forms.Label();
this.label10 = new System.Windows.Forms.Label();
this.label11 = new System.Windows.Forms.Label();
this.label12 = new System.Windows.Forms.Label();
this.grb_pos1 = new System.Windows.Forms.GroupBox();
this.textBox6 = new System.Windows.Forms.TextBox();
this.label23 = new System.Windows.Forms.Label();
this.label7 = new System.Windows.Forms.Label();
this.button5 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.textBox2 = new System.Windows.Forms.TextBox();
this.label6 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.grb_temport = new System.Windows.Forms.GroupBox();
this.comboBox1 = new System.Windows.Forms.ComboBox();
this.label2 = new System.Windows.Forms.Label();
@@ -129,42 +173,6 @@
this.lbl_Refresh_ID = new System.Windows.Forms.Label();
this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components);
this.rit_Coord = new System.Windows.Forms.RichTextBox();
this.grb_pos1 = new System.Windows.Forms.GroupBox();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.textBox2 = new System.Windows.Forms.TextBox();
this.button4 = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button();
this.label7 = new System.Windows.Forms.Label();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.label8 = new System.Windows.Forms.Label();
this.button6 = new System.Windows.Forms.Button();
this.button7 = new System.Windows.Forms.Button();
this.textBox3 = new System.Windows.Forms.TextBox();
this.label9 = new System.Windows.Forms.Label();
this.label10 = new System.Windows.Forms.Label();
this.label11 = new System.Windows.Forms.Label();
this.label12 = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.label13 = new System.Windows.Forms.Label();
this.button8 = new System.Windows.Forms.Button();
this.button9 = new System.Windows.Forms.Button();
this.textBox4 = new System.Windows.Forms.TextBox();
this.label14 = new System.Windows.Forms.Label();
this.label15 = new System.Windows.Forms.Label();
this.label16 = new System.Windows.Forms.Label();
this.label17 = new System.Windows.Forms.Label();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.label18 = new System.Windows.Forms.Label();
this.button10 = new System.Windows.Forms.Button();
this.button11 = new System.Windows.Forms.Button();
this.textBox5 = new System.Windows.Forms.TextBox();
this.label19 = new System.Windows.Forms.Label();
this.label20 = new System.Windows.Forms.Label();
this.label21 = new System.Windows.Forms.Label();
this.label22 = new System.Windows.Forms.Label();
this.tac_MainForm.SuspendLayout();
this.tap_Axis.SuspendLayout();
this.grb_R.SuspendLayout();
@@ -181,12 +189,12 @@
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit();
this.tap_tempCtrl.SuspendLayout();
this.groupBox3.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox1.SuspendLayout();
this.grb_pos1.SuspendLayout();
this.grb_temport.SuspendLayout();
this.panel1.SuspendLayout();
this.grb_pos1.SuspendLayout();
this.groupBox1.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox3.SuspendLayout();
this.SuspendLayout();
//
// btn_Init
@@ -1250,6 +1258,436 @@
this.tap_tempCtrl.UseVisualStyleBackColor = true;
this.tap_tempCtrl.Click += new System.EventHandler(this.tabPage1_Click);
//
// groupBox3
//
this.groupBox3.Controls.Add(this.textBox9);
this.groupBox3.Controls.Add(this.label26);
this.groupBox3.Controls.Add(this.label18);
this.groupBox3.Controls.Add(this.button10);
this.groupBox3.Controls.Add(this.button11);
this.groupBox3.Controls.Add(this.textBox5);
this.groupBox3.Controls.Add(this.label19);
this.groupBox3.Controls.Add(this.label20);
this.groupBox3.Controls.Add(this.label21);
this.groupBox3.Controls.Add(this.label22);
this.groupBox3.Location = new System.Drawing.Point(61, 615);
this.groupBox3.Name = "groupBox3";
this.groupBox3.Size = new System.Drawing.Size(1094, 100);
this.groupBox3.TabIndex = 11;
this.groupBox3.TabStop = false;
this.groupBox3.Text = "点位4";
//
// textBox9
//
this.textBox9.Location = new System.Drawing.Point(730, 39);
this.textBox9.Name = "textBox9";
this.textBox9.Size = new System.Drawing.Size(100, 28);
this.textBox9.TabIndex = 15;
//
// label26
//
this.label26.AutoSize = true;
this.label26.Location = new System.Drawing.Point(642, 44);
this.label26.Name = "label26";
this.label26.Size = new System.Drawing.Size(98, 18);
this.label26.TabIndex = 14;
this.label26.Text = "温度限速：";
this.label26.Click += new System.EventHandler(this.label26_Click);
//
// label18
//
this.label18.AutoSize = true;
this.label18.Location = new System.Drawing.Point(540, 45);
this.label18.Name = "label18";
this.label18.Size = new System.Drawing.Size(17, 18);
this.label18.TabIndex = 9;
this.label18.Text = "0";
//
// button10
//
this.button10.Location = new System.Drawing.Point(980, 32);
this.button10.Name = "button10";
this.button10.Size = new System.Drawing.Size(97, 40);
this.button10.TabIndex = 8;
this.button10.Text = "保存";
this.button10.UseVisualStyleBackColor = true;
//
// button11
//
this.button11.Location = new System.Drawing.Point(866, 34);
this.button11.Name = "button11";
this.button11.Size = new System.Drawing.Size(92, 40);
this.button11.TabIndex = 7;
this.button11.Text = "开始升温";
this.button11.UseVisualStyleBackColor = true;
this.button11.Click += new System.EventHandler(this.button11_Click);
//
// textBox5
//
this.textBox5.Location = new System.Drawing.Point(309, 38);
this.textBox5.Name = "textBox5";
this.textBox5.Size = new System.Drawing.Size(100, 28);
this.textBox5.TabIndex = 8;
//
// label19
//
this.label19.AutoSize = true;
this.label19.Location = new System.Drawing.Point(449, 44);
this.label19.Name = "label19";
this.label19.Size = new System.Drawing.Size(98, 18);
this.label19.TabIndex = 7;
this.label19.Text = "设定温度：";
//
// label20
//
this.label20.AutoSize = true;
this.label20.Location = new System.Drawing.Point(215, 42);
this.label20.Name = "label20";
this.label20.Size = new System.Drawing.Size(98, 18);
this.label20.TabIndex = 2;
this.label20.Text = "调节温度：";
//
// label21
//
this.label21.AutoSize = true;
this.label21.Location = new System.Drawing.Point(116, 43);
this.label21.Name = "label21";
this.label21.Size = new System.Drawing.Size(17, 18);
this.label21.TabIndex = 1;
this.label21.Text = "0";
//
// label22
//
this.label22.AutoSize = true;
this.label22.Location = new System.Drawing.Point(26, 42);
this.label22.Name = "label22";
this.label22.Size = new System.Drawing.Size(98, 18);
this.label22.TabIndex = 0;
this.label22.Text = "实际温度：";
//
// groupBox2
//
this.groupBox2.Controls.Add(this.textBox8);
this.groupBox2.Controls.Add(this.label25);
this.groupBox2.Controls.Add(this.label13);
this.groupBox2.Controls.Add(this.button8);
this.groupBox2.Controls.Add(this.button9);
this.groupBox2.Controls.Add(this.textBox4);
this.groupBox2.Controls.Add(this.label14);
this.groupBox2.Controls.Add(this.label15);
this.groupBox2.Controls.Add(this.label16);
this.groupBox2.Controls.Add(this.label17);
this.groupBox2.Location = new System.Drawing.Point(61, 488);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(1094, 100);
this.groupBox2.TabIndex = 10;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "点位3";
//
// textBox8
//
this.textBox8.Location = new System.Drawing.Point(730, 38);
this.textBox8.Name = "textBox8";
this.textBox8.Size = new System.Drawing.Size(100, 28);
this.textBox8.TabIndex = 14;
//
// label25
//
this.label25.AutoSize = true;
this.label25.Location = new System.Drawing.Point(642, 43);
this.label25.Name = "label25";
this.label25.Size = new System.Drawing.Size(98, 18);
this.label25.TabIndex = 14;
this.label25.Text = "温度限速：";
//
// label13
//
this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(540, 42);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(17, 18);
this.label13.TabIndex = 9;
this.label13.Text = "0";
//
// button8
//
this.button8.Location = new System.Drawing.Point(980, 32);
this.button8.Name = "button8";
this.button8.Size = new System.Drawing.Size(97, 40);
this.button8.TabIndex = 8;
this.button8.Text = "保存";
this.button8.UseVisualStyleBackColor = true;
//
// button9
//
this.button9.Location = new System.Drawing.Point(866, 32);
this.button9.Name = "button9";
this.button9.Size = new System.Drawing.Size(92, 40);
this.button9.TabIndex = 7;
this.button9.Text = "开始升温";
this.button9.UseVisualStyleBackColor = true;
this.button9.Click += new System.EventHandler(this.button9_Click);
//
// textBox4
//
this.textBox4.Location = new System.Drawing.Point(309, 38);
this.textBox4.Name = "textBox4";
this.textBox4.Size = new System.Drawing.Size(100, 28);
this.textBox4.TabIndex = 8;
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(449, 41);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(98, 18);
this.label14.TabIndex = 7;
this.label14.Text = "设定温度：";
//
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(215, 42);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(98, 18);
this.label15.TabIndex = 2;
this.label15.Text = "调节温度：";
//
// label16
//
this.label16.AutoSize = true;
this.label16.Location = new System.Drawing.Point(116, 43);
this.label16.Name = "label16";
this.label16.Size = new System.Drawing.Size(17, 18);
this.label16.TabIndex = 1;
this.label16.Text = "0";
//
// label17
//
this.label17.AutoSize = true;
this.label17.Location = new System.Drawing.Point(26, 42);
this.label17.Name = "label17";
this.label17.Size = new System.Drawing.Size(98, 18);
this.label17.TabIndex = 0;
this.label17.Text = "实际温度：";
//
// groupBox1
//
this.groupBox1.Controls.Add(this.textBox7);
this.groupBox1.Controls.Add(this.label24);
this.groupBox1.Controls.Add(this.label8);
this.groupBox1.Controls.Add(this.button6);
this.groupBox1.Controls.Add(this.button7);
this.groupBox1.Controls.Add(this.textBox3);
this.groupBox1.Controls.Add(this.label9);
this.groupBox1.Controls.Add(this.label10);
this.groupBox1.Controls.Add(this.label11);
this.groupBox1.Controls.Add(this.label12);
this.groupBox1.Location = new System.Drawing.Point(61, 360);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(1094, 100);
this.groupBox1.TabIndex = 7;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "点位2";
this.groupBox1.Enter += new System.EventHandler(this.groupBox1_Enter_1);
//
// textBox7
//
this.textBox7.Location = new System.Drawing.Point(730, 39);
this.textBox7.Name = "textBox7";
this.textBox7.Size = new System.Drawing.Size(100, 28);
this.textBox7.TabIndex = 13;
//
// label24
//
this.label24.AutoSize = true;
this.label24.Location = new System.Drawing.Point(642, 43);
this.label24.Name = "label24";
this.label24.Size = new System.Drawing.Size(98, 18);
this.label24.TabIndex = 13;
this.label24.Text = "温度限速：";
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(540, 44);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(17, 18);
this.label8.TabIndex = 9;
this.label8.Text = "0";
//
// button6
//
this.button6.Location = new System.Drawing.Point(980, 33);
this.button6.Name = "button6";
this.button6.Size = new System.Drawing.Size(97, 40);
this.button6.TabIndex = 8;
this.button6.Text = "保存";
this.button6.UseVisualStyleBackColor = true;
//
// button7
//
this.button7.Location = new System.Drawing.Point(866, 33);
this.button7.Name = "button7";
this.button7.Size = new System.Drawing.Size(92, 40);
this.button7.TabIndex = 7;
this.button7.Text = "开始升温";
this.button7.UseVisualStyleBackColor = true;
this.button7.Click += new System.EventHandler(this.button7_Click);
//
// textBox3
//
this.textBox3.Location = new System.Drawing.Point(309, 38);
this.textBox3.Name = "textBox3";
this.textBox3.Size = new System.Drawing.Size(100, 28);
this.textBox3.TabIndex = 8;
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(449, 43);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(98, 18);
this.label9.TabIndex = 7;
this.label9.Text = "设定温度：";
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(215, 42);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(98, 18);
this.label10.TabIndex = 2;
this.label10.Text = "调节温度：";
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(116, 43);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(17, 18);
this.label11.TabIndex = 1;
this.label11.Text = "0";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(26, 42);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(98, 18);
this.label12.TabIndex = 0;
this.label12.Text = "实际温度：";
//
// grb_pos1
//
this.grb_pos1.Controls.Add(this.textBox6);
this.grb_pos1.Controls.Add(this.label23);
this.grb_pos1.Controls.Add(this.label7);
this.grb_pos1.Controls.Add(this.button5);
this.grb_pos1.Controls.Add(this.button4);
this.grb_pos1.Controls.Add(this.textBox2);
this.grb_pos1.Controls.Add(this.label6);
this.grb_pos1.Controls.Add(this.label5);
this.grb_pos1.Controls.Add(this.label4);
this.grb_pos1.Controls.Add(this.label3);
this.grb_pos1.Location = new System.Drawing.Point(61, 227);
this.grb_pos1.Name = "grb_pos1";
this.grb_pos1.Size = new System.Drawing.Size(1094, 100);
this.grb_pos1.TabIndex = 6;
this.grb_pos1.TabStop = false;
this.grb_pos1.Text = "点位1";
this.grb_pos1.Enter += new System.EventHandler(this.groupBox1_Enter);
//
// textBox6
//
this.textBox6.Location = new System.Drawing.Point(730, 39);
this.textBox6.Name = "textBox6";
this.textBox6.Size = new System.Drawing.Size(100, 28);
this.textBox6.TabIndex = 12;
//
// label23
//
this.label23.AutoSize = true;
this.label23.Location = new System.Drawing.Point(642, 43);
this.label23.Name = "label23";
this.label23.Size = new System.Drawing.Size(98, 18);
this.label23.TabIndex = 12;
this.label23.Text = "温度限速：";
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(540, 43);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(17, 18);
this.label7.TabIndex = 9;
this.label7.Text = "0";
//
// button5
//
this.button5.Location = new System.Drawing.Point(980, 32);
this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(97, 40);
this.button5.TabIndex = 8;
this.button5.Text = "保存";
this.button5.UseVisualStyleBackColor = true;
//
// button4
//
this.button4.Location = new System.Drawing.Point(866, 32);
this.button4.Name = "button4";
this.button4.Size = new System.Drawing.Size(92, 40);
this.button4.TabIndex = 7;
this.button4.Text = "开始升温";
this.button4.UseVisualStyleBackColor = true;
this.button4.Click += new System.EventHandler(this.button4_Click_1);
//
// textBox2
//
this.textBox2.Location = new System.Drawing.Point(309, 39);
this.textBox2.Name = "textBox2";
this.textBox2.Size = new System.Drawing.Size(100, 28);
this.textBox2.TabIndex = 8;
this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(449, 42);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(98, 18);
this.label6.TabIndex = 7;
this.label6.Text = "设定温度：";
this.label6.Click += new System.EventHandler(this.label6_Click);
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(215, 43);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(98, 18);
this.label5.TabIndex = 2;
this.label5.Text = "调节温度：";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(116, 43);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(17, 18);
this.label4.TabIndex = 1;
this.label4.Text = "0";
this.label4.Click += new System.EventHandler(this.label4_Click);
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(26, 42);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(98, 18);
this.label3.TabIndex = 0;
this.label3.Text = "实际温度：";
//
// grb_temport
//
this.grb_temport.Controls.Add(this.comboBox1);
@@ -1336,359 +1774,6 @@
this.rit_Coord.Text = "";
this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged);
//
// grb_pos1
//
this.grb_pos1.Controls.Add(this.label7);
this.grb_pos1.Controls.Add(this.button5);
this.grb_pos1.Controls.Add(this.button4);
this.grb_pos1.Controls.Add(this.textBox2);
this.grb_pos1.Controls.Add(this.label6);
this.grb_pos1.Controls.Add(this.label5);
this.grb_pos1.Controls.Add(this.label4);
this.grb_pos1.Controls.Add(this.label3);
this.grb_pos1.Location = new System.Drawing.Point(61, 227);
this.grb_pos1.Name = "grb_pos1";
this.grb_pos1.Size = new System.Drawing.Size(1055, 100);
this.grb_pos1.TabIndex = 6;
this.grb_pos1.TabStop = false;
this.grb_pos1.Text = "点位1";
this.grb_pos1.Enter += new System.EventHandler(this.groupBox1_Enter);
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(26, 42);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(98, 18);
this.label3.TabIndex = 0;
this.label3.Text = "实际温度：";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(116, 43);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(17, 18);
this.label4.TabIndex = 1;
this.label4.Text = "0";
this.label4.Click += new System.EventHandler(this.label4_Click);
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(227, 42);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(98, 18);
this.label5.TabIndex = 2;
this.label5.Text = "调节温度：";
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(458, 42);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(98, 18);
this.label6.TabIndex = 7;
this.label6.Text = "设定温度：";
this.label6.Click += new System.EventHandler(this.label6_Click);
//
// textBox2
//
this.textBox2.Location = new System.Drawing.Point(321, 38);
this.textBox2.Name = "textBox2";
this.textBox2.Size = new System.Drawing.Size(100, 28);
this.textBox2.TabIndex = 8;
this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
//
// button4
//
this.button4.Location = new System.Drawing.Point(901, 31);
this.button4.Name = "button4";
this.button4.Size = new System.Drawing.Size(113, 40);
this.button4.TabIndex = 7;
this.button4.Text = "开始升温";
this.button4.UseVisualStyleBackColor = true;
//
// button5
//
this.button5.Location = new System.Drawing.Point(761, 31);
this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(113, 40);
this.button5.TabIndex = 8;
this.button5.Text = "保存";
this.button5.UseVisualStyleBackColor = true;
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(549, 43);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(17, 18);
this.label7.TabIndex = 9;
this.label7.Text = "0";
//
// groupBox1
//
this.groupBox1.Controls.Add(this.label8);
this.groupBox1.Controls.Add(this.button6);
this.groupBox1.Controls.Add(this.button7);
this.groupBox1.Controls.Add(this.textBox3);
this.groupBox1.Controls.Add(this.label9);
this.groupBox1.Controls.Add(this.label10);
this.groupBox1.Controls.Add(this.label11);
this.groupBox1.Controls.Add(this.label12);
this.groupBox1.Location = new System.Drawing.Point(61, 360);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(1055, 100);
this.groupBox1.TabIndex = 7;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "点位2";
this.groupBox1.Enter += new System.EventHandler(this.groupBox1_Enter_1);
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(549, 43);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(17, 18);
this.label8.TabIndex = 9;
this.label8.Text = "0";
//
// button6
//
this.button6.Location = new System.Drawing.Point(761, 31);
this.button6.Name = "button6";
this.button6.Size = new System.Drawing.Size(113, 40);
this.button6.TabIndex = 8;
this.button6.Text = "保存";
this.button6.UseVisualStyleBackColor = true;
//
// button7
//
this.button7.Location = new System.Drawing.Point(901, 31);
this.button7.Name = "button7";
this.button7.Size = new System.Drawing.Size(113, 40);
this.button7.TabIndex = 7;
this.button7.Text = "开始升温";
this.button7.UseVisualStyleBackColor = true;
//
// textBox3
//
this.textBox3.Location = new System.Drawing.Point(321, 38);
this.textBox3.Name = "textBox3";
this.textBox3.Size = new System.Drawing.Size(100, 28);
this.textBox3.TabIndex = 8;
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(458, 42);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(98, 18);
this.label9.TabIndex = 7;
this.label9.Text = "设定温度：";
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(227, 42);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(98, 18);
this.label10.TabIndex = 2;
this.label10.Text = "调节温度：";
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(116, 43);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(17, 18);
this.label11.TabIndex = 1;
this.label11.Text = "0";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(26, 42);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(98, 18);
this.label12.TabIndex = 0;
this.label12.Text = "实际温度：";
//
// groupBox2
//
this.groupBox2.Controls.Add(this.label13);
this.groupBox2.Controls.Add(this.button8);
this.groupBox2.Controls.Add(this.button9);
this.groupBox2.Controls.Add(this.textBox4);
this.groupBox2.Controls.Add(this.label14);
this.groupBox2.Controls.Add(this.label15);
this.groupBox2.Controls.Add(this.label16);
this.groupBox2.Controls.Add(this.label17);
this.groupBox2.Location = new System.Drawing.Point(61, 488);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(1055, 100);
this.groupBox2.TabIndex = 10;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "点位3";
//
// label13
//
this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(549, 43);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(17, 18);
this.label13.TabIndex = 9;
this.label13.Text = "0";
//
// button8
//
this.button8.Location = new System.Drawing.Point(761, 31);
this.button8.Name = "button8";
this.button8.Size = new System.Drawing.Size(113, 40);
this.button8.TabIndex = 8;
this.button8.Text = "保存";
this.button8.UseVisualStyleBackColor = true;
//
// button9
//
this.button9.Location = new System.Drawing.Point(901, 31);
this.button9.Name = "button9";
this.button9.Size = new System.Drawing.Size(113, 40);
this.button9.TabIndex = 7;
this.button9.Text = "开始升温";
this.button9.UseVisualStyleBackColor = true;
//
// textBox4
//
this.textBox4.Location = new System.Drawing.Point(321, 38);
this.textBox4.Name = "textBox4";
this.textBox4.Size = new System.Drawing.Size(100, 28);
this.textBox4.TabIndex = 8;
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(458, 42);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(98, 18);
this.label14.TabIndex = 7;
this.label14.Text = "设定温度：";
//
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(227, 42);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(98, 18);
this.label15.TabIndex = 2;
this.label15.Text = "调节温度：";
//
// label16
//
this.label16.AutoSize = true;
this.label16.Location = new System.Drawing.Point(116, 43);
this.label16.Name = "label16";
this.label16.Size = new System.Drawing.Size(17, 18);
this.label16.TabIndex = 1;
this.label16.Text = "0";
//
// label17
//
this.label17.AutoSize = true;
this.label17.Location = new System.Drawing.Point(26, 42);
this.label17.Name = "label17";
this.label17.Size = new System.Drawing.Size(98, 18);
this.label17.TabIndex = 0;
this.label17.Text = "实际温度：";
//
// groupBox3
//
this.groupBox3.Controls.Add(this.label18);
this.groupBox3.Controls.Add(this.button10);
this.groupBox3.Controls.Add(this.button11);
this.groupBox3.Controls.Add(this.textBox5);
this.groupBox3.Controls.Add(this.label19);
this.groupBox3.Controls.Add(this.label20);
this.groupBox3.Controls.Add(this.label21);
this.groupBox3.Controls.Add(this.label22);
this.groupBox3.Location = new System.Drawing.Point(61, 615);
this.groupBox3.Name = "groupBox3";
this.groupBox3.Size = new System.Drawing.Size(1055, 100);
this.groupBox3.TabIndex = 11;
this.groupBox3.TabStop = false;
this.groupBox3.Text = "点位4";
//
// label18
//
this.label18.AutoSize = true;
this.label18.Location = new System.Drawing.Point(549, 43);
this.label18.Name = "label18";
this.label18.Size = new System.Drawing.Size(17, 18);
this.label18.TabIndex = 9;
this.label18.Text = "0";
//
// button10
//
this.button10.Location = new System.Drawing.Point(761, 31);
this.button10.Name = "button10";
this.button10.Size = new System.Drawing.Size(113, 40);
this.button10.TabIndex = 8;
this.button10.Text = "保存";
this.button10.UseVisualStyleBackColor = true;
//
// button11
//
this.button11.Location = new System.Drawing.Point(901, 31);
this.button11.Name = "button11";
this.button11.Size = new System.Drawing.Size(113, 40);
this.button11.TabIndex = 7;
this.button11.Text = "开始升温";
this.button11.UseVisualStyleBackColor = true;
//
// textBox5
//
this.textBox5.Location = new System.Drawing.Point(321, 38);
this.textBox5.Name = "textBox5";
this.textBox5.Size = new System.Drawing.Size(100, 28);
this.textBox5.TabIndex = 8;
//
// label19
//
this.label19.AutoSize = true;
this.label19.Location = new System.Drawing.Point(458, 42);
this.label19.Name = "label19";
this.label19.Size = new System.Drawing.Size(98, 18);
this.label19.TabIndex = 7;
this.label19.Text = "设定温度：";
//
// label20
//
this.label20.AutoSize = true;
this.label20.Location = new System.Drawing.Point(227, 42);
this.label20.Name = "label20";
this.label20.Size = new System.Drawing.Size(98, 18);
this.label20.TabIndex = 2;
this.label20.Text = "调节温度：";
//
// label21
//
this.label21.AutoSize = true;
this.label21.Location = new System.Drawing.Point(116, 43);
this.label21.Name = "label21";
this.label21.Size = new System.Drawing.Size(17, 18);
this.label21.TabIndex = 1;
this.label21.Text = "0";
//
// label22
//
this.label22.AutoSize = true;
this.label22.Location = new System.Drawing.Point(26, 42);
this.label22.Name = "label22";
this.label22.Size = new System.Drawing.Size(98, 18);
this.label22.TabIndex = 0;
this.label22.Text = "实际温度：";
//
// ShowForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
@@ -1732,17 +1817,17 @@
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit();
this.tap_tempCtrl.ResumeLayout(false);
this.groupBox3.ResumeLayout(false);
this.groupBox3.PerformLayout();
this.groupBox2.ResumeLayout(false);
this.groupBox2.PerformLayout();
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.grb_pos1.ResumeLayout(false);
this.grb_pos1.PerformLayout();
this.grb_temport.ResumeLayout(false);
this.grb_temport.PerformLayout();
this.panel1.ResumeLayout(false);
this.grb_pos1.ResumeLayout(false);
this.grb_pos1.PerformLayout();
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.groupBox2.ResumeLayout(false);
this.groupBox2.PerformLayout();
this.groupBox3.ResumeLayout(false);
this.groupBox3.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();
@@ -1885,6 +1970,14 @@
private System.Windows.Forms.Label label15;
private System.Windows.Forms.Label label16;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.Label label26;
private System.Windows.Forms.Label label25;
private System.Windows.Forms.Label label24;
private System.Windows.Forms.TextBox textBox6;
private System.Windows.Forms.Label label23;
private System.Windows.Forms.TextBox textBox9;
private System.Windows.Forms.TextBox textBox8;
private System.Windows.Forms.TextBox textBox7;
}
}

98
HitBotCSharpDemo/ShowForm.cs
View File

@@ -67,7 +67,6 @@ namespace HitBotCSharpDemo
private CameraManager cameraManager;
private tempControl tempControl;
private ControlBeanEx robot;
public ShowForm()
{
@@ -210,10 +209,79 @@ namespace HitBotCSharpDemo
cameraManager.Initialize();
Label[] temperatureLabels = new Label[] { label4, label11, label16, label21 };
tempControl = new tempControl(temperatureLabels);
Label[] setting_temperatureLabels = new Label[] { label7, label8, label13, label18 };
tempControl = new tempControl(temperatureLabels, setting_temperatureLabels);
tempControl.LoadAvailablePorts(comboBox1);
textBox6.Click += TextBox_Click;
textBox7.Click += TextBox_Click;
textBox8.Click += TextBox_Click;
textBox9.Click += TextBox_Click;
}
private void TextBox_Click(object sender, EventArgs e)
{
TextBox textBox = sender as TextBox;
if (textBox == null) return;
// 检查串口是否打开
if (tempControl == null || !tempControl.IsSerialPortOpen())
{
MessageBox.Show("串口未打开，无法设置参数");
return;
}
// 根据控件名称确定下位机编号和显示名称
int deviceNumber = -1;
string parameterName = "";
switch (textBox.Name)
{
case "textBox6":
deviceNumber = 0;
parameterName = "下位机1 RAMPSPEED";
break;
case "textBox7":
deviceNumber = 1;
parameterName = "下位机2 RAMPSPEED";
break;
case "textBox8":
deviceNumber = 2;
parameterName = "下位机3 RAMPSPEED";
break;
case "textBox9":
deviceNumber = 3;
parameterName = "下位机4 RAMPSPEED";
break;
}
if (deviceNumber >= 0)
{
// 创建并显示输入窗口
ParameterInputForm inputForm = new ParameterInputForm(parameterName, textBox.Text);
if (inputForm.ShowDialog(this) == DialogResult.OK)
{
// 用户点击了保存按钮
string newValue = inputForm.InputValue;
// 检查输入是否为有效数字
if (double.TryParse(newValue, out double inputValue))
{
// 更新textbox显示
textBox.Text = newValue;
// 构建并发送命令
string command = $"TC1:TCRAMPSPEED={inputValue}@{deviceNumber}\r";
tempControl.SendCommand(command);
}
else
{
MessageBox.Show("请输入有效的数字", "输入错误",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
inputForm.Dispose();
}
}
private void cob_Robot_ID_Click(object sender, EventArgs e)
{
cob_Robot_ID.Items.Clear();
@@ -1339,5 +1407,29 @@ namespace HitBotCSharpDemo
}
private void button4_Click_1(object sender, EventArgs e)
{
}
private void button7_Click(object sender, EventArgs e)
{
}
private void button9_Click(object sender, EventArgs e)
{
}
private void button11_Click(object sender, EventArgs e)
{
}
private void label26_Click(object sender, EventArgs e)
{
}
}
}

BIN
HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe
View File

Binary file not shown.

BIN
HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb
View File

Binary file not shown.

182
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-17.hilog
View File

@@ -204,3 +204,185 @@
2025-06-17 16:15:05.190 trail_number1.443221
2025-06-17 16:15:05.190 tcp_distance 144.322098
2025-06-17 16:15:05.190 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
2025-06-17 19:20:28.265 SDK_VERSION_V2.0.0.29_Release
2025-06-17 19:20:28.266 robot connected
2025-06-17 19:20:28.266 26
2025-06-17 19:20:28.268 current generation=26
2025-06-17 19:20:28.784 0x1a
2025-06-17 19:20:29.673 initial joint2 2449950
2025-06-17 19:20:29.674 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-17 19:20:29.674 robot WritePID
2025-06-17 19:20:29.982 initial joint1 -160236
2025-06-17 19:20:30.028 initial joint2 2449948
2025-06-17 19:20:30.074 initial joint3 -219816
2025-06-17 19:20:30.136 initial joint4 -25369363
2025-06-17 19:20:30.152 initial joint1 -160236
2025-06-17 19:20:30.198 initial joint2 2449949
2025-06-17 19:20:30.244 initial joint3 -219816
2025-06-17 19:20:30.291 initial joint4 -25369363
2025-06-17 19:20:30.306 initial joint1 -160230
2025-06-17 19:20:30.352 initial joint2 2449950
2025-06-17 19:20:30.398 initial joint3 -219818
2025-06-17 19:20:30.444 initial joint4 -25369364
2025-06-17 19:20:32.668 initial_thread initialized
2025-06-17 19:20:32.668 servo enable
2025-06-17 19:20:32.668 brake open
2025-06-17 19:20:32.669 set_brake_state 0 1
2025-06-17 19:20:32.870 robot initialized
2025-06-17 19:20:33.454 get_scara_param -11.002300 84.112396 -75.469200 -1005.720520
2025-06-17 19:20:33.454 get_scara_real_coor -11.002100 84.112396 -75.468803 -1005.720398
2025-06-17 19:20:33.454 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-17 19:20:33.455 position -160232.609375 2449951.000000 -219819.984375 -25369366.000000 -1124228.875000 4073196.000000 -61915.968750 -24985686.000000
2025-06-17 19:20:33.455 speed 66192.367188 55729.695313 54212.039063 15807.129883
2025-06-17 19:20:33.455 set_first_position_after_initial
2025-06-17 19:20:33.456 movej_old start_pos: -11.002300 84.112396 -75.469200 -1005.720520 end_pos: -11.002300 84.112297 -75.469200 -1005.720520 org_sp 10.000000 end_sp 0.729016
2025-06-17 19:20:33.744 J3 Belt Meilage=40.923592km
2025-06-17 19:20:35.251 30 30 30 30
2025-06-17 19:20:35.253 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-17 19:20:35.253 goal_angle -63.500324 35.083988
2025-06-17 19:20:35.253 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
2025-06-17 19:20:35.253 z1 -75.469200 z2 -75.466103
2025-06-17 19:20:35.253 angle1_1 -11.002300 angle2_1 84.112297 z1 -75.469200 r1 -1005.720520
2025-06-17 19:20:35.254 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
2025-06-17 19:20:35.254 speed 100.000000
2025-06-17 19:20:35.254 tcp_distance 482.202667
2025-06-17 19:20:35.255 new_end_speed 100.000000 j1_acc_t 2.411013 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 23.815603
2025-06-17 19:20:35.255 new_end_speed 100.000000 j2_acc_t 2.411013 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.241575
2025-06-17 19:20:35.255 new_end_speed 100.000000 j3_acc_t 2.411013 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.001405
2025-06-17 19:20:35.256 new_end_speed 100.000000 j4_acc_t 2.411013 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000222
2025-06-17 19:20:35.256 end_speed 100.000000
2025-06-17 19:20:35.256 trail_number4.822027
2025-06-17 19:20:35.256 tcp_distance 482.202667
2025-06-17 19:20:35.256 angle1_1 = -11.002300 angle2_1 = 84.112297 z1 = -75.469200 r1 = -1005.720520 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
2025-06-17 19:20:40.259 30 30 30 30
2025-06-17 19:20:40.261 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-17 19:20:40.261 goal_angle -44.911705 98.661697
2025-06-17 19:20:40.261 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
2025-06-17 19:20:40.261 z1 -75.466103 z2 -75.466103
2025-06-17 19:20:40.261 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
2025-06-17 19:20:40.261 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
2025-06-17 19:20:40.262 speed 100.000000
2025-06-17 19:20:40.262 tcp_distance 318.237030
2025-06-17 19:20:40.262 new_end_speed 100.000000 j1_acc_t 1.591185 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 12.777455
2025-06-17 19:20:40.262 new_end_speed 100.000000 j2_acc_t 1.591185 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.702080
2025-06-17 19:20:40.262 new_end_speed 100.000000 j3_acc_t 1.591185 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
2025-06-17 19:20:40.262 new_end_speed 100.000000 j4_acc_t 1.591185 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
2025-06-17 19:20:40.263 end_speed 100.000000
2025-06-17 19:20:40.263 trail_number3.182370
2025-06-17 19:20:40.263 tcp_distance 318.237030
2025-06-17 19:20:40.264 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
2025-06-17 19:20:44.988 30 30 30 30
2025-06-17 19:20:44.989 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-17 19:20:44.989 goal_angle -11.002804 84.112190
2025-06-17 19:20:44.989 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
2025-06-17 19:20:44.989 z1 -75.466103 z2 -75.466103
2025-06-17 19:20:44.990 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
2025-06-17 19:20:44.990 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
2025-06-17 19:20:44.990 speed 100.000000
2025-06-17 19:20:44.990 tcp_distance 144.322098
2025-06-17 19:20:44.990 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
2025-06-17 19:20:44.990 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
2025-06-17 19:20:44.991 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
2025-06-17 19:20:44.991 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
2025-06-17 19:20:44.991 end_speed 100.000000
2025-06-17 19:20:44.991 trail_number1.443221
2025-06-17 19:20:44.991 tcp_distance 144.322098
2025-06-17 19:20:44.992 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
2025-06-17 19:20:47.596 30 30 30 30
2025-06-17 19:20:47.596 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
2025-06-17 19:20:47.598 goal_angle -87.199585 152.604431
2025-06-17 19:20:47.598 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
2025-06-17 19:20:47.598 z1 -75.466103 z2 -4.457100
2025-06-17 19:20:47.598 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
2025-06-17 19:20:47.598 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
2025-06-17 19:20:47.599 speed 100.000000
2025-06-17 19:20:47.599 tcp_distance 288.737366
2025-06-17 19:20:47.599 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
2025-06-17 19:20:47.599 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
2025-06-17 19:20:47.599 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
2025-06-17 19:20:47.599 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
2025-06-17 19:20:47.600 end_speed 100.000000
2025-06-17 19:20:47.600 trail_number2.887374
2025-06-17 19:20:47.600 tcp_distance 288.737366
2025-06-17 19:20:47.601 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
2025-06-17 20:42:24.041 SDK_VERSION_V2.0.0.29_Release
2025-06-17 20:42:24.042 robot connected
2025-06-17 20:42:24.042 26
2025-06-17 20:42:24.042 current generation=26
2025-06-17 20:42:24.556 0x1a
2025-06-17 20:42:25.419 initial joint2 4444930
2025-06-17 20:42:25.420 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-17 20:42:25.420 robot WritePID
2025-06-17 20:42:25.728 initial joint1 -1269936
2025-06-17 20:42:25.790 initial joint2 4444931
2025-06-17 20:42:25.836 initial joint3 -12992
2025-06-17 20:42:25.881 initial joint4 -25056188
2025-06-17 20:42:25.896 initial joint1 -1269936
2025-06-17 20:42:25.942 initial joint2 4444931
2025-06-17 20:42:25.988 initial joint3 -12992
2025-06-17 20:42:26.048 initial joint4 -25056189
2025-06-17 20:42:26.078 initial joint1 -1269936
2025-06-17 20:42:26.123 initial joint2 4444934
2025-06-17 20:42:26.169 initial joint3 -12992
2025-06-17 20:42:26.215 initial joint4 -25056190
2025-06-17 20:42:28.535 initial_thread initialized
2025-06-17 20:42:28.535 servo enable
2025-06-17 20:42:28.536 brake open
2025-06-17 20:42:28.536 set_brake_state 0 1
2025-06-17 20:42:28.750 robot initialized
2025-06-17 20:42:29.320 get_scara_param -87.199501 152.604797 -4.460400 -1027.920044
2025-06-17 20:42:29.321 get_scara_real_coor -87.199501 152.604797 -4.460400 -1027.920044
2025-06-17 20:42:29.321 set_first_position_after_initial
2025-06-17 20:42:29.322 movej_old start_pos: -87.199501 152.604797 -4.460400 -1027.920044 end_pos: -87.199501 152.604797 -4.460400 -1027.920044 org_sp 10.000000 end_sp 10.000000
2025-06-17 20:42:29.612 J3 Belt Meilage=40.924110km
2025-06-17 20:42:31.857 30 30 30 30
2025-06-17 20:42:31.858 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-17 20:42:31.858 goal_angle -44.911705 98.661697
2025-06-17 20:42:31.859 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
2025-06-17 20:42:31.860 z1 -4.460400 z2 -75.466103
2025-06-17 20:42:31.860 angle1_1 -87.199501 angle2_1 152.604797 z1 -4.460400 r1 -1027.920044
2025-06-17 20:42:31.860 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
2025-06-17 20:42:31.860 speed 100.000000
2025-06-17 20:42:31.860 tcp_distance 200.024323
2025-06-17 20:42:31.861 new_end_speed 100.000000 j1_acc_t 1.000122 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246613
2025-06-17 20:42:31.861 new_end_speed 100.000000 j2_acc_t 1.000122 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.993038
2025-06-17 20:42:31.863 new_end_speed 100.000000 j3_acc_t 1.000122 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.652977
2025-06-17 20:42:31.863 new_end_speed 100.000000 j4_acc_t 1.000122 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.277243
2025-06-17 20:42:31.863 end_speed 100.000000
2025-06-17 20:42:31.863 trail_number2.000243
2025-06-17 20:42:31.863 tcp_distance 200.024323
2025-06-17 20:42:31.864 angle1_1 = -87.199501 angle2_1 = 152.604797 z1 = -4.460400 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
2025-06-17 20:42:35.087 30 30 30 30
2025-06-17 20:42:35.087 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-17 20:42:35.088 goal_angle -11.002804 84.112190
2025-06-17 20:42:35.088 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
2025-06-17 20:42:35.088 z1 -75.466103 z2 -75.466103
2025-06-17 20:42:35.089 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
2025-06-17 20:42:35.089 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
2025-06-17 20:42:35.089 speed 100.000000
2025-06-17 20:42:35.089 tcp_distance 144.322098
2025-06-17 20:42:35.089 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
2025-06-17 20:42:35.090 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
2025-06-17 20:42:35.090 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
2025-06-17 20:42:35.090 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
2025-06-17 20:42:35.090 end_speed 100.000000
2025-06-17 20:42:35.090 trail_number1.443221
2025-06-17 20:42:35.091 tcp_distance 144.322098
2025-06-17 20:42:35.091 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
2025-06-17 20:42:37.761 30 30 30 30
2025-06-17 20:42:37.761 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
2025-06-17 20:42:37.761 goal_angle -87.199585 152.604431
2025-06-17 20:42:37.761 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
2025-06-17 20:42:37.762 z1 -75.466103 z2 -4.457100
2025-06-17 20:42:37.762 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
2025-06-17 20:42:37.762 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
2025-06-17 20:42:37.762 speed 100.000000
2025-06-17 20:42:37.762 tcp_distance 288.737366
2025-06-17 20:42:37.762 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
2025-06-17 20:42:37.763 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
2025-06-17 20:42:37.763 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
2025-06-17 20:42:37.763 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
2025-06-17 20:42:37.763 end_speed 100.000000
2025-06-17 20:42:37.763 trail_number2.887374
2025-06-17 20:42:37.764 tcp_distance 288.737366
2025-06-17 20:42:37.764 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044

51
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-18.hilog Normal file
View File

@@ -0,0 +1,51 @@
2025-06-18 10:34:31.782 ROBOT_ERROR_CODE = 1004
2025-06-18 10:34:31.782
0 : 0 0 0 0 0 0
1 : 0 0 0 0 0 0
2 : 0 0 0 0 0 0
3 : 0 0 0 0 0 0
4 : 0 0 0 0 0 0
5 : 0 0 0 0 0 0
6 : 0 0 0 0 0 0
7 : 0 0 0 0 0 0
8 : 0 0 0 0 0 0
9 : 0 0 0 0 0 0
10 : 0 0 0 0 0 0
11 : 0 0 0 0 0 0
12 : 0 0 0 0 0 0
13 : 0 0 0 0 0 0
14 : 0 0 0 0 0 0
15 : 9999 9999 9999 9999 9999 0
2025-06-18 11:15:52.792 SDK_VERSION_V2.0.0.29_Release
2025-06-18 11:15:52.794 robot connected
2025-06-18 11:15:52.794 26
2025-06-18 11:15:52.794 current generation=26
2025-06-18 11:15:53.368 0x1a
2025-06-18 11:15:54.234 initial joint2 4435335
2025-06-18 11:15:54.234 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-18 11:15:54.234 robot WritePID
2025-06-18 11:15:54.541 initial joint1 -1267505
2025-06-18 11:15:54.601 initial joint2 4435335
2025-06-18 11:15:54.646 initial joint3 -13307
2025-06-18 11:15:54.692 initial joint4 -25058597
2025-06-18 11:15:54.707 initial joint1 -1267485
2025-06-18 11:15:54.754 initial joint2 4435335
2025-06-18 11:15:54.800 initial joint3 -13307
2025-06-18 11:15:54.847 initial joint4 -25058598
2025-06-18 11:15:54.862 initial joint1 -1267485
2025-06-18 11:15:54.908 initial joint2 4435334
2025-06-18 11:15:54.954 initial joint3 -13307
2025-06-18 11:15:54.999 initial joint4 -25058597
2025-06-18 11:15:57.166 initial_thread initialized
2025-06-18 11:15:57.167 servo enable
2025-06-18 11:15:57.167 brake open
2025-06-18 11:15:57.168 set_brake_state 0 1
2025-06-18 11:15:57.381 robot initialized
2025-06-18 11:15:57.951 get_scara_param -87.030098 152.275101 -4.568500 -1028.047607
2025-06-18 11:15:57.951 get_scara_real_coor -87.030197 152.275101 -4.568500 -1028.047607
2025-06-18 11:15:57.953 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-18 11:15:57.953 position -1267467.625000 4435333.500000 -13306.720703 -25058600.000000 -206213.781250 2532595.750000 -211242.203125 -25356388.000000
2025-06-18 11:15:57.953 speed 72870.523438 65325.320313 67955.757813 12268.488281
2025-06-18 11:15:57.953 set_first_position_after_initial
2025-06-18 11:15:57.954 movej_old start_pos: -87.030098 152.275085 -4.568500 -1028.047607 end_pos: -87.030098 152.275009 -4.568500 -1028.047607 org_sp 10.000000 end_sp 0.558927
2025-06-18 11:15:58.244 J3 Belt Meilage=40.924805km

2
HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache
View File

@@ -1 +1 @@
5c4765cc5751b3038bbbfc77461925fc32c32c7429e0f32c686d1470e388eeb2
2e053c921742f81621ab65b09d7f7c29b32f8c9095d4d6c6b15c9b1eb3d7c317

1
HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt
View File

@@ -137,3 +137,4 @@ C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDe
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\OfficeOpenXml.Extension.AspNetCore.dll
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\EPPlus.xml
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.SuggestedBindingRedirects.cache
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.ParameterInputForm.resources

BIN
HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache
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BIN
HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ParameterInputForm.resources Normal file
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BIN
HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe
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BIN
HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb
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212
HitBotCSharpDemo/tempControl.cs
View File

@@ -1,9 +1,10 @@
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.IO.Ports;
using System.Windows.Forms;
namespace HitBotCSharpDemo
@@ -12,20 +13,34 @@ namespace HitBotCSharpDemo
{
private SerialPort serialPort;
private System.Windows.Forms.Timer temperatureTimer;
private System.Windows.Forms.Timer settingTemperatureTimer;
private string[] temperatureCommands = {
"TC1:TCACTUALTEMP?@0\r",
"TC1:TCACTUALTEMP?@1\r",
"TC1:TCACTUALTEMP?@2\r",
"TC1:TCACTUALTEMP?@3\r"
};
private string[] settingtempCommands =
{
"TC1:TCSETTEMP?@0\r",
"TC1:TCSETTEMP?@1\r",
"TC1:TCSETTEMP?@2\r",
"TC1:TCSETTEMP?@3\r"
};
private Label[] temperatureLabels;
private Label[] settingTemperatureLabels;
private int currentCommandIndex = 0;
private int currentSettingCommandIndex = 0;
private string receivedData = "";
public tempControl(Label[] labels)
public tempControl(Label[] labels, Label[] setting_labels)
{
temperatureLabels = labels;
settingTemperatureLabels = setting_labels;
InitializeSerialPort();
InitializeTemperatureTimer();
InitializeSettingTemperatureTimer();
}
public void LoadAvailablePorts(ComboBox comboBox)
{
@@ -62,6 +77,7 @@ namespace HitBotCSharpDemo
{
// 串口已打开，执行关闭操作
temperatureTimer.Stop(); // 停止温度查询定时器
settingTemperatureTimer.Stop(); // 停止设定温度查询定时器
serialPort.Close();
UpdateUIStatus(false, button, comboBox);
MessageBox.Show("串口已关闭", "提示",
@@ -78,6 +94,8 @@ namespace HitBotCSharpDemo
}
serialPort.Open();
temperatureTimer.Start(); // 启动温度查询定时器
StartSettingTemperatureTimerWithDelay();// 延迟200ms启动设定温度查询定时器
UpdateUIStatus(true, button, comboBox);
MessageBox.Show($"串口 {serialPort.PortName} 已成功打开", "提示",
MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -111,6 +129,7 @@ namespace HitBotCSharpDemo
try
{
temperatureTimer.Stop(); // 停止温度查询定时器
settingTemperatureTimer.Stop(); // 停止设定温度查询定时器
serialPort.Close();
UpdateUIStatus(false, button, comboBox);
}
@@ -131,7 +150,9 @@ namespace HitBotCSharpDemo
try
{
temperatureTimer?.Stop();
settingTemperatureTimer?.Stop(); // 停止设定温度定时器
temperatureTimer?.Dispose();
settingTemperatureTimer?.Dispose(); // 释放设定温度定时器
if (serialPort != null && serialPort.IsOpen)
{
serialPort.Close();
@@ -151,8 +172,7 @@ namespace HitBotCSharpDemo
serialPort.DataBits = 8; // 数据位
serialPort.StopBits = StopBits.One; // 停止位
serialPort.Parity = Parity.None; // 奇偶校验
// 可选：添加数据接收事件处理
serialPort.DataReceived += SerialPort_DataReceived;
serialPort.DataReceived += SerialPort_DataReceived; //添加数据接收事件处理
}
private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
@@ -204,6 +224,30 @@ namespace HitBotCSharpDemo
}
}
}
else if (data.StartsWith("TC1:TCSETTEMP="))
{
string[] parts = data.Split('@');
if (parts.Length == 2)
{
string temperaturePart = parts[0];
string addressPart = parts[1];
string[] tempParts = temperaturePart.Split('=');
if (tempParts.Length == 2)
{
string temperatureValue = tempParts[1];
int address = int.Parse(addressPart);
UpdateSettingTemperatureLabel(address, temperatureValue);
}
}
}
//else if (data.StartsWith("TC1:TCRAMPSPEED="))
//{
// ProcessRampSpeedData(data);
//}
else if (data.StartsWith("CMD:REPLY="))
{
ProcessCommandReply(data);
}
}
catch (Exception ex)
{
@@ -228,12 +272,120 @@ namespace HitBotCSharpDemo
}
}
}
private void ProcessCommandReply(string data)
{
try
{
// 解析格式：CMD:REPLY=1@3
string[] parts = data.Split('@');
if (parts.Length == 2)
{
string replyPart = parts[0];
string addressPart = parts[1];
string[] replyParts = replyPart.Split('=');
if (replyParts.Length == 2)
{
int errorCode = int.Parse(replyParts[1]);
int address = int.Parse(addressPart);
// 处理错误码
string message = GetErrorMessage(errorCode);
// 在UI线程中显示消息
if (temperatureLabels[0].InvokeRequired)
{
temperatureLabels[0].Invoke(new Action(() =>
{
ShowCommandResult(address, errorCode, message);
}));
}
else
{
ShowCommandResult(address, errorCode, message);
}
}
}
}
catch (Exception ex)
{
Console.WriteLine($"解析命令回复时发生错误: {ex.Message}");
}
}
// 获取错误码对应的消息
private string GetErrorMessage(int errorCode)
{
switch (errorCode)
{
case 0:
return "未找到子模块名称或参数名称";
case 1:
return "设定命令正确执行";
case 2:
return "未找到参数名称";
case 3:
return "命令被禁止";
case 4:
return "参数值超范围";
case 5:
return "其它或未知错误";
case 6:
return "命令格式语法错误";
case 7:
return "通讯命令里有校验错误";
case 8:
return "保存正确执行";
default:
return $"未知错误码: {errorCode}";
}
}
private void ShowCommandResult(int address, int errorCode, string message)
{
if (errorCode == 1)
{
// 设置成功，显示成功消息
MessageBox.Show($"下位机{address + 1}号 RAMPSPEED设置成功", "提示",
MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else
{
// 设置失败，显示错误消息
MessageBox.Show($"下位机{address + 1}号 RAMPSPEED设置失败\n错误码: {errorCode}\n错误信息: {message}",
"错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void UpdateSettingTemperatureLabel(int address, string temperature)
{
if (address >= 0 && address < settingTemperatureLabels.Length)
{
// 使用Invoke确保在UI线程中更新界面
if (settingTemperatureLabels[address].InvokeRequired)
{
settingTemperatureLabels[address].Invoke(new Action(() =>
{
settingTemperatureLabels[address].Text = $"{temperature}°C";
}));
}
else
{
settingTemperatureLabels[address].Text = $"{temperature}°C";
}
}
}
private void InitializeTemperatureTimer()
{
temperatureTimer = new System.Windows.Forms.Timer();
temperatureTimer.Interval = 1000; // 1秒间隔
temperatureTimer.Interval = 500; // 0.5秒间隔
temperatureTimer.Tick += TemperatureTimer_Tick;
}
private void InitializeSettingTemperatureTimer()
{
settingTemperatureTimer = new System.Windows.Forms.Timer();
settingTemperatureTimer.Interval = 500; // 0.5秒间隔，与实际温度错开
settingTemperatureTimer.Tick += SettingTemperatureTimer_Tick;
}
private void TemperatureTimer_Tick(object sender, EventArgs e)
{
if (serialPort != null && serialPort.IsOpen)
@@ -252,6 +404,32 @@ namespace HitBotCSharpDemo
}
}
}
private void SettingTemperatureTimer_Tick(object sender, EventArgs e)
{
if (serialPort != null && serialPort.IsOpen)
{
try
{
// 发送当前索引对应的设定温度查询命令
serialPort.Write(settingtempCommands[currentSettingCommandIndex]);
// 更新索引，循环发送四个命令
currentSettingCommandIndex = (currentSettingCommandIndex + 1) % settingtempCommands.Length;
}
catch (Exception ex)
{
Console.WriteLine($"发送设定温度查询命令时发生错误: {ex.Message}");
}
}
}
private async void StartSettingTemperatureTimerWithDelay()
{
await Task.Delay(200); // 延迟200ms
if (serialPort != null && serialPort.IsOpen)
{
settingTemperatureTimer.Start();
}
}
private void UpdateUIStatus(bool isPortOpen, Button button, ComboBox comboBox)
{
if (isPortOpen)
@@ -265,6 +443,30 @@ namespace HitBotCSharpDemo
comboBox.Enabled = true; // 串口关闭时启用选择框
}
}
public bool IsSerialPortOpen()
{
return serialPort != null && serialPort.IsOpen;
}
public void SendCommand(string command)
{
if (serialPort != null && serialPort.IsOpen)
{
try
{
serialPort.Write(command);
}
catch (Exception ex)
{
MessageBox.Show($"发送命令失败: {ex.Message}", "错误",
MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else
{
MessageBox.Show("串口未打开", "提示",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
}
}