diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index 3a132b7..df0f53a 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -1009,6 +1009,7 @@ this.init_pos_btn.TabIndex = 4; this.init_pos_btn.Text = "归位"; this.init_pos_btn.UseVisualStyleBackColor = true; + this.init_pos_btn.Click += new System.EventHandler(this.init_pos_btn_Click); // // cam_btn_4 // diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index d3b2eb0..83f4f77 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -1,12 +1,13 @@ using System; using System.Drawing; +using System.IO; using System.Threading; using System.Windows.Forms; using ControlBeanExDll; using TcpserverExDll; namespace HitBotCSharpDemo -{ +{ public partial class ShowForm : Form { Thread thread_Jog_Move;//创建按钮长按，连续移动模式的线程。 与点击事件冲突处理 @@ -33,20 +34,126 @@ namespace HitBotCSharpDemo int posHand1; float[] pos2;//点位3 int posHand2; - Thread thread_PosMove; + Thread thread_PosMove; + private float[][] cameraPositions; + private string filePath = "Cam_pos_path.txt"; + private ControlBeanEx robot; public ShowForm() { InitializeComponent(); TcpserverEx.net_port_initial(); - robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号 + robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号 + } + private 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; + } + } + } + + if (positionIndex == 5) + { + MessageBox.Show("成功加载5个相机位置点位"); + } + else + { + MessageBox.Show($"只加载了{positionIndex}个点位，需要5个点位"); + } + } + else + { + MessageBox.Show($"未找到文件：{filePath}"); + } + } + catch (Exception ex) + { + MessageBox.Show($"加载点位文件时出错：{ex.Message}"); + } + } + private void MoveToPosition(int positionIndex) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + if (cameraPositions == null || positionIndex >= cameraPositions.Length || cameraPositions[positionIndex] == null) + { + MessageBox.Show($"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, 50, 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}"); + } } private void ShowForm_Load(object sender, EventArgs e) { lbl_Current_Input = new Label[] { lbl_InputState_0, lbl_InputState_1, lbl_InputState_2, lbl_InputState_3, lbl_InputState_4, lbl_InputState_5 };//输入信号数组 lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组 + LoadCameraPositions(); } private void cob_Robot_ID_Click(object sender, EventArgs e) @@ -486,22 +593,27 @@ namespace HitBotCSharpDemo private void button1_Click(object sender, EventArgs e) { - + MoveToPosition(0); } private void button3_Click(object sender, EventArgs e) { - + MoveToPosition(2); } private void button2_Click(object sender, EventArgs e) { - + MoveToPosition(1); } private void button4_Click(object sender, EventArgs e) { + MoveToPosition(3); + } + private void init_pos_btn_Click(object sender, EventArgs e) + { + MoveToPosition(4); } } } diff --git a/HitBotCSharpDemo/Cam_pos_path.txt b/HitBotCSharpDemo/bin/x64/Debug/Cam_pos_path.txt similarity index 100% rename from HitBotCSharpDemo/Cam_pos_path.txt rename to HitBotCSharpDemo/bin/x64/Debug/Cam_pos_path.txt diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index 48d15b5..36b4d4a 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb index f7cacdf..8f086bb 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog index 016e513..cc24fd3 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog @@ -67,3 +67,366 @@ 2025-06-09 10:08:00.234 _new_stop_move_thread_4 2025-06-09 10:08:00.354 wait_stop in 2025-06-09 10:08:00.383 wait_stop out_0 +2025-06-09 10:46:29.863 SDK_VERSION_V2.0.0.29_Release +2025-06-09 10:46:29.865 robot connected +2025-06-09 10:46:29.865 26 +2025-06-09 10:46:29.865 current generation=26 +2025-06-09 10:46:30.377 0x1a +2025-06-09 10:46:31.208 initial joint2 4444932 +2025-06-09 10:46:31.208 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-09 10:46:31.208 robot WritePID +2025-06-09 10:46:31.511 initial joint1 -1269934 +2025-06-09 10:46:31.560 initial joint2 4444932 +2025-06-09 10:46:31.611 initial joint3 -12991 +2025-06-09 10:46:31.658 initial joint4 -25056187 +2025-06-09 10:46:31.676 initial joint1 -1269934 +2025-06-09 10:46:31.729 initial joint2 4444933 +2025-06-09 10:46:31.773 initial joint3 -12991 +2025-06-09 10:46:31.813 initial joint4 -25056187 +2025-06-09 10:46:31.829 initial joint1 -1269934 +2025-06-09 10:46:31.876 initial joint2 4444936 +2025-06-09 10:46:31.937 initial joint3 -12991 +2025-06-09 10:46:32.008 initial joint4 -25056188 +2025-06-09 10:46:34.194 initial_thread initialized +2025-06-09 10:46:34.194 servo enable +2025-06-09 10:46:34.194 brake open +2025-06-09 10:46:34.194 set_brake_state 0 1 +2025-06-09 10:46:34.409 robot initialized +2025-06-09 10:46:34.968 get_scara_param -87.199303 152.604797 -4.460100 -1027.919556 +2025-06-09 10:46:34.968 get_scara_real_coor -87.199402 152.604797 -4.460400 -1027.919800 +2025-06-09 10:46:34.968 λɢ +2025-06-09 10:46:34.968 position -1269931.875000 4444937.000000 -12990.983398 -25056188.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-09 10:46:34.968 speed 87199.304688 152604.796875 4460.100098 1032283.187500 +2025-06-09 10:46:34.968 set_first_position_after_initial +2025-06-09 10:46:34.971 movej_old start_pos: -87.199303 152.604797 -4.460100 -1027.919556 end_pos: -87.199303 152.604797 -4.460100 -1027.919556 org_sp 10.000000 end_sp 10.000000 +2025-06-09 10:46:35.251 J3 Belt Meilage=40.887569km +2025-06-09 10:46:42.784 _new_stop_move_thread_0 +2025-06-09 10:46:42.784 j1_slow_down_t = 2 +2025-06-09 10:46:42.784 j2_slow_down_t = 1 +2025-06-09 10:46:42.784 j3_slow_down_t = 0 +2025-06-09 10:46:42.784 j4_slow_down_t = 0 +2025-06-09 10:46:42.784 tmp_t[3] = 2 +2025-06-09 10:46:42.785 _new_stop_move_thread_1 +2025-06-09 10:46:42.894 jog_move_xyzr return 99 ͣ +2025-06-09 10:46:42.917 _new_stop_move_thread_2 +2025-06-09 10:46:42.948 _new_stop_move_thread_3 +2025-06-09 10:46:42.948 get_scara_param -83.923302 148.635101 -4.460100 -1027.949951 +2025-06-09 10:46:42.948 get_scara_real_coor -83.923302 148.635101 -4.460100 -1027.949951 +2025-06-09 10:46:42.948 _new_stop_move_thread_4 +2025-06-09 10:46:43.102 wait_stop in +2025-06-09 10:46:43.140 wait_stop out_0 +2025-06-09 10:46:44.353 jog_move_xyzr return 4 Ŀ޷ +2025-06-09 10:46:44.569 jog_move_xyzr return 4 Ŀ޷ +2025-06-09 10:46:44.715 _new_stop_move_thread_0 +2025-06-09 10:46:44.715 j1_slow_down_t = 0 +2025-06-09 10:46:44.715 j2_slow_down_t = 0 +2025-06-09 10:46:44.715 j3_slow_down_t = 0 +2025-06-09 10:46:44.715 j4_slow_down_t = 0 +2025-06-09 10:46:44.715 tmp_t[3] = 0 +2025-06-09 10:46:44.715 _new_stop_move_thread_1 +2025-06-09 10:46:44.771 jog_move_xyzr return 99 ͣ +2025-06-09 10:46:44.866 _new_stop_move_thread_2 +2025-06-09 10:46:44.893 _new_stop_move_thread_3 +2025-06-09 10:46:44.893 get_scara_param -83.923302 148.635406 -2.602000 -1027.949829 +2025-06-09 10:46:44.893 get_scara_real_coor -83.923302 148.635406 -2.602000 -1027.949829 +2025-06-09 10:46:44.893 _new_stop_move_thread_4 +2025-06-09 10:46:44.974 wait_stop in +2025-06-09 10:46:45.012 wait_stop out_0 +2025-06-09 10:46:46.753 _new_stop_move_thread_0 +2025-06-09 10:46:46.753 j1_slow_down_t = 0 +2025-06-09 10:46:46.753 j2_slow_down_t = 0 +2025-06-09 10:46:46.753 j3_slow_down_t = 2 +2025-06-09 10:46:46.753 j4_slow_down_t = 0 +2025-06-09 10:46:46.753 tmp_t[3] = 2 +2025-06-09 10:46:46.753 _new_stop_move_thread_1 +2025-06-09 10:46:46.915 _new_stop_move_thread_2 +2025-06-09 10:46:46.938 _new_stop_move_thread_3 +2025-06-09 10:46:46.938 get_scara_param -83.923203 148.635498 -11.014100 -1027.949707 +2025-06-09 10:46:46.938 get_scara_real_coor -83.923203 148.635498 -11.014100 -1027.949829 +2025-06-09 10:46:46.938 _new_stop_move_thread_4 +2025-06-09 10:46:46.953 wait_stop in +2025-06-09 10:46:46.996 wait_stop out_0 +2025-06-09 10:46:50.216 _new_stop_move_thread_0 +2025-06-09 10:46:50.216 j1_slow_down_t = 0 +2025-06-09 10:46:50.216 j2_slow_down_t = 0 +2025-06-09 10:46:50.216 j3_slow_down_t = 0 +2025-06-09 10:46:50.218 j4_slow_down_t = 4 +2025-06-09 10:46:50.218 tmp_t[3] = 4 +2025-06-09 10:46:50.218 _new_stop_move_thread_1 +2025-06-09 10:46:50.262 jog_move_xyzr return 99 ͣ +2025-06-09 10:46:50.397 _new_stop_move_thread_2 +2025-06-09 10:46:50.427 _new_stop_move_thread_3 +2025-06-09 10:46:50.427 get_scara_param -83.923203 148.635605 -11.019200 -1012.262573 +2025-06-09 10:46:50.427 get_scara_real_coor -83.923203 148.635605 -11.019200 -1012.262512 +2025-06-09 10:46:50.427 _new_stop_move_thread_4 +2025-06-09 10:46:50.466 wait_stop in +2025-06-09 10:46:50.499 wait_stop out_0 +2025-06-09 10:48:07.607 SDK_VERSION_V2.0.0.29_Release +2025-06-09 10:48:07.607 robot connected +2025-06-09 10:48:07.607 26 +2025-06-09 10:48:07.607 current generation=26 +2025-06-09 10:48:08.128 0x1a +2025-06-09 10:48:08.946 initial joint2 4329327 +2025-06-09 10:48:08.946 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-09 10:48:08.946 robot WritePID +2025-06-09 10:48:09.250 initial joint1 -1222221 +2025-06-09 10:48:09.300 initial joint2 4329327 +2025-06-09 10:48:09.340 initial joint3 -32095 +2025-06-09 10:48:09.400 initial joint4 -24702448 +2025-06-09 10:48:09.415 initial joint1 -1222222 +2025-06-09 10:48:09.465 initial joint2 4329327 +2025-06-09 10:48:09.513 initial joint3 -32096 +2025-06-09 10:48:09.549 initial joint4 -24702449 +2025-06-09 10:48:09.559 initial joint1 -1222222 +2025-06-09 10:48:09.612 initial joint2 4329327 +2025-06-09 10:48:09.656 initial joint3 -32096 +2025-06-09 10:48:09.695 initial joint4 -24702450 +2025-06-09 10:48:11.871 initial_thread initialized +2025-06-09 10:48:11.871 servo enable +2025-06-09 10:48:11.871 brake open +2025-06-09 10:48:11.871 set_brake_state 0 1 +2025-06-09 10:48:12.076 robot initialized +2025-06-09 10:48:12.647 get_scara_param -83.923302 148.635605 -11.019200 -1012.451599 +2025-06-09 10:48:12.648 get_scara_real_coor -83.923302 148.635605 -11.019200 -1012.451599 +2025-06-09 10:48:12.648 λɢ +2025-06-09 10:48:12.648 position -1222221.750000 4329326.000000 -32095.748047 -24702452.000000 -1222221.500000 4329320.500000 -13872.527344 -25078630.000000 +2025-06-09 10:48:12.648 speed 0.017166 0.188828 6256.446289 15498.057617 +2025-06-09 10:48:12.648 set_first_position_after_initial +2025-06-09 10:48:12.649 movej_old start_pos: -83.923309 148.635620 -11.019200 -1012.451660 end_pos: -83.923309 148.635620 -11.019200 -1012.451782 org_sp 10.000000 end_sp 10.000000 +2025-06-09 10:48:12.950 J3 Belt Meilage=40.887585km +2025-06-09 10:52:07.807 SDK_VERSION_V2.0.0.29_Release +2025-06-09 10:52:07.823 robot connected +2025-06-09 10:52:07.824 26 +2025-06-09 10:52:07.824 current generation=26 +2025-06-09 10:52:08.332 0x1a +2025-06-09 10:52:09.187 initial joint2 4329327 +2025-06-09 10:52:09.187 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-09 10:52:09.187 robot WritePID +2025-06-09 10:52:09.492 initial joint1 -1222220 +2025-06-09 10:52:09.522 initial joint2 4329328 +2025-06-09 10:52:09.586 initial joint3 -32097 +2025-06-09 10:52:09.628 initial joint4 -24702455 +2025-06-09 10:52:09.653 initial joint1 -1222220 +2025-06-09 10:52:09.701 initial joint2 4329330 +2025-06-09 10:52:09.753 initial joint3 -32097 +2025-06-09 10:52:09.800 initial joint4 -24702457 +2025-06-09 10:52:09.822 initial joint1 -1222220 +2025-06-09 10:52:09.866 initial joint2 4329331 +2025-06-09 10:52:09.917 initial joint3 -32097 +2025-06-09 10:52:09.966 initial joint4 -24702458 +2025-06-09 10:52:12.149 initial_thread initialized +2025-06-09 10:52:12.149 servo enable +2025-06-09 10:52:12.149 brake open +2025-06-09 10:52:12.149 set_brake_state 0 1 +2025-06-09 10:52:12.367 robot initialized +2025-06-09 10:52:12.941 get_scara_param -83.923103 148.635803 -11.019600 -1012.451721 +2025-06-09 10:52:12.941 get_scara_real_coor -83.923103 148.635803 -11.019600 -1012.451721 +2025-06-09 10:52:12.941 λɢ +2025-06-09 10:52:12.941 position -1222218.750000 4329331.500000 -32096.910156 -24702462.000000 -1222221.500000 4329320.500000 -13872.527344 -25078630.000000 +2025-06-09 10:52:12.941 speed 0.188828 0.377655 6256.845703 15497.644531 +2025-06-09 10:52:12.941 set_first_position_after_initial +2025-06-09 10:52:12.941 movej_old start_pos: -83.923103 148.635803 -11.019600 -1012.451782 end_pos: -83.923103 148.635803 -11.019600 -1012.451782 org_sp 10.000000 end_sp 10.000000 +2025-06-09 10:52:13.263 J3 Belt Meilage=40.887585km +2025-06-09 10:52:16.158 30 30 30 30 +2025-06-09 10:52:16.158 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:52:16.158 goal_angle -60.720737 27.061800 +2025-06-09 10:52:16.158 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:52:16.158 z1 -11.019600 z2 -75.466103 +2025-06-09 10:52:16.158 angle1_1 -83.923103 angle2_1 148.635803 z1 -11.019600 r1 -1012.451782 +2025-06-09 10:52:16.158 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:52:16.158 speed 50.000000 +2025-06-09 10:52:16.158 tcp_distance 353.244476 +2025-06-09 10:52:16.169 new_end_speed 50.000000 j1_acc_t 3.532445 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 7.184140 +2025-06-09 10:52:16.170 new_end_speed 50.000000 j2_acc_t 3.532445 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.642918 +2025-06-09 10:52:16.170 new_end_speed 50.000000 j3_acc_t 3.532445 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 19.954548 +2025-06-09 10:52:16.170 new_end_speed 50.000000 j4_acc_t 3.532445 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 2.084048 +2025-06-09 10:52:16.170 end_speed 50.000000 +2025-06-09 10:52:16.170 trail_number7.064889 +2025-06-09 10:52:16.170 tcp_distance 353.244476 +2025-06-09 10:52:16.170 angle1_1 = -83.923103 angle2_1 = 148.635803 z1 = -11.019600 r1 = -1012.451782 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008 +2025-06-09 10:52:32.485 30 30 30 30 +2025-06-09 10:52:32.485 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:52:32.485 goal_angle -67.226128 86.401024 +2025-06-09 10:52:32.485 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:52:32.485 z1 -75.466103 z2 -75.466103 +2025-06-09 10:52:32.485 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:52:32.485 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:52:32.485 speed 50.000000 +2025-06-09 10:52:32.485 tcp_distance 171.494293 +2025-06-09 10:52:32.485 new_end_speed 50.000000 j1_acc_t 1.714943 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148982 +2025-06-09 10:52:32.485 new_end_speed 50.000000 j2_acc_t 1.714943 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845131 +2025-06-09 10:52:32.485 new_end_speed 50.000000 j3_acc_t 1.714943 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-09 10:52:32.485 new_end_speed 50.000000 j4_acc_t 1.714943 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-09 10:52:32.485 end_speed 50.000000 +2025-06-09 10:52:32.485 trail_number3.429886 +2025-06-09 10:52:32.485 tcp_distance 171.494293 +2025-06-09 10:52:32.485 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-09 10:52:36.382 30 30 30 30 +2025-06-09 10:52:36.382 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:52:36.388 goal_angle -44.911705 98.661697 +2025-06-09 10:52:36.388 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:52:36.388 z1 -75.466103 z2 -75.466103 +2025-06-09 10:52:36.388 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:52:36.388 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:52:36.388 speed 50.000000 +2025-06-09 10:52:36.388 tcp_distance 144.069748 +2025-06-09 10:52:36.388 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940685 +2025-06-09 10:52:36.388 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308070 +2025-06-09 10:52:36.388 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-09 10:52:36.388 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-09 10:52:36.388 end_speed 50.000000 +2025-06-09 10:52:36.388 trail_number2.881395 +2025-06-09 10:52:36.388 tcp_distance 144.069748 +2025-06-09 10:52:36.388 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-09 10:52:39.447 30 30 30 30 +2025-06-09 10:52:39.447 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:52:39.447 goal_angle -11.002804 84.112190 +2025-06-09 10:52:39.447 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:52:39.447 z1 -75.466103 z2 -75.466103 +2025-06-09 10:52:39.447 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:52:39.447 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:52:39.447 speed 50.000000 +2025-06-09 10:52:39.447 tcp_distance 144.322098 +2025-06-09 10:52:39.449 new_end_speed 50.000000 j1_acc_t 1.443221 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 25.697960 +2025-06-09 10:52:39.449 new_end_speed 50.000000 j2_acc_t 1.443221 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 11.026386 +2025-06-09 10:52:39.449 new_end_speed 50.000000 j3_acc_t 1.443221 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-09 10:52:39.449 new_end_speed 50.000000 j4_acc_t 1.443221 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-09 10:52:39.449 end_speed 50.000000 +2025-06-09 10:52:39.449 trail_number2.886442 +2025-06-09 10:52:39.449 tcp_distance 144.322098 +2025-06-09 10:52:39.449 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 +2025-06-09 10:52:43.312 30 30 30 30 +2025-06-09 10:52:43.312 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 50.000000 0.000000 1 +2025-06-09 10:52:43.312 goal_angle -87.199585 152.604431 +2025-06-09 10:52:43.313 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 50.000000 +2025-06-09 10:52:43.313 z1 -75.466103 z2 -4.457100 +2025-06-09 10:52:43.313 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:52:43.313 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-09 10:52:43.313 speed 50.000000 +2025-06-09 10:52:43.313 tcp_distance 288.737366 +2025-06-09 10:52:43.313 new_end_speed 50.000000 j1_acc_t 2.887374 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 28.863682 +2025-06-09 10:52:43.313 new_end_speed 50.000000 j2_acc_t 2.887374 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.945168 +2025-06-09 10:52:43.313 new_end_speed 50.000000 j3_acc_t 2.887374 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 26.898527 +2025-06-09 10:52:43.313 new_end_speed 50.000000 j4_acc_t 2.887374 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 8.409093 +2025-06-09 10:52:43.313 end_speed 50.000000 +2025-06-09 10:52:43.313 trail_number5.774747 +2025-06-09 10:52:43.313 tcp_distance 288.737366 +2025-06-09 10:52:43.315 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 +2025-06-09 10:53:40.012 SDK_VERSION_V2.0.0.29_Release +2025-06-09 10:53:40.012 robot connected +2025-06-09 10:53:40.012 26 +2025-06-09 10:53:40.012 current generation=26 +2025-06-09 10:53:40.515 0x1a +2025-06-09 10:53:41.320 initial joint2 4444933 +2025-06-09 10:53:41.321 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-09 10:53:41.322 robot WritePID +2025-06-09 10:53:41.623 initial joint1 -1269936 +2025-06-09 10:53:41.686 initial joint2 4444933 +2025-06-09 10:53:41.737 initial joint3 -12991 +2025-06-09 10:53:41.771 initial joint4 -25056187 +2025-06-09 10:53:41.787 initial joint1 -1269936 +2025-06-09 10:53:41.828 initial joint2 4444937 +2025-06-09 10:53:41.879 initial joint3 -12991 +2025-06-09 10:53:41.923 initial joint4 -25056188 +2025-06-09 10:53:41.945 initial joint1 -1269936 +2025-06-09 10:53:41.994 initial joint2 4444941 +2025-06-09 10:53:42.037 initial joint3 -12991 +2025-06-09 10:53:42.081 initial joint4 -25056189 +2025-06-09 10:53:44.255 initial_thread initialized +2025-06-09 10:53:44.255 servo enable +2025-06-09 10:53:44.255 brake open +2025-06-09 10:53:44.255 set_brake_state 0 1 +2025-06-09 10:53:44.458 robot initialized +2025-06-09 10:53:45.023 get_scara_param -87.199501 152.604996 -4.460400 -1027.919800 +2025-06-09 10:53:45.023 get_scara_real_coor -87.199501 152.604996 -4.460400 -1027.919800 +2025-06-09 10:53:45.023 λɢ +2025-06-09 10:53:45.023 position -1269934.750000 4444942.500000 -12991.857422 -25056192.000000 -1178811.375000 4281105.000000 -29966.357422 -25081904.000000 +2025-06-09 10:53:45.025 speed 6256.945801 5624.914063 5827.731934 1059.301880 +2025-06-09 10:53:45.025 set_first_position_after_initial +2025-06-09 10:53:45.025 movej_old start_pos: -87.199501 152.604996 -4.460400 -1027.919800 end_pos: -87.199501 152.604996 -4.460400 -1027.919800 org_sp 10.000000 end_sp 10.000000 +2025-06-09 10:53:45.313 J3 Belt Meilage=40.887733km +2025-06-09 10:53:47.645 30 30 30 30 +2025-06-09 10:53:47.645 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:53:47.645 goal_angle -60.720737 27.061800 +2025-06-09 10:53:47.645 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:53:47.645 z1 -4.460400 z2 -75.466103 +2025-06-09 10:53:47.645 angle1_1 -87.199501 angle2_1 152.604996 z1 -4.460400 r1 -1027.919800 +2025-06-09 10:53:47.645 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:53:47.645 speed 50.000000 +2025-06-09 10:53:47.645 tcp_distance 361.528076 +2025-06-09 10:53:47.645 new_end_speed 50.000000 j1_acc_t 3.615281 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.010762 +2025-06-09 10:53:47.645 new_end_speed 50.000000 j2_acc_t 3.615281 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.981258 +2025-06-09 10:53:47.645 new_end_speed 50.000000 j3_acc_t 3.615281 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 21.481737 +2025-06-09 10:53:47.645 new_end_speed 50.000000 j4_acc_t 3.615281 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 6.715918 +2025-06-09 10:53:47.645 end_speed 50.000000 +2025-06-09 10:53:47.645 trail_number7.230562 +2025-06-09 10:53:47.645 tcp_distance 361.528076 +2025-06-09 10:53:47.645 angle1_1 = -87.199501 angle2_1 = 152.604996 z1 = -4.460400 r1 = -1027.919800 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008 +2025-06-09 10:53:54.900 30 30 30 30 +2025-06-09 10:53:54.900 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:53:54.900 goal_angle -67.226128 86.401024 +2025-06-09 10:53:54.901 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:53:54.901 z1 -75.466103 z2 -75.466103 +2025-06-09 10:53:54.901 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:53:54.901 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:53:54.901 speed 50.000000 +2025-06-09 10:53:54.902 tcp_distance 171.494293 +2025-06-09 10:53:54.902 new_end_speed 50.000000 j1_acc_t 1.714943 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148982 +2025-06-09 10:53:54.902 new_end_speed 50.000000 j2_acc_t 1.714943 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845131 +2025-06-09 10:53:54.902 new_end_speed 50.000000 j3_acc_t 1.714943 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-09 10:53:54.902 new_end_speed 50.000000 j4_acc_t 1.714943 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-09 10:53:54.902 end_speed 50.000000 +2025-06-09 10:53:54.903 trail_number3.429886 +2025-06-09 10:53:54.903 tcp_distance 171.494293 +2025-06-09 10:53:54.924 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-09 10:53:58.733 30 30 30 30 +2025-06-09 10:53:58.733 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:53:58.733 goal_angle -44.911705 98.661697 +2025-06-09 10:53:58.733 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:53:58.733 z1 -75.466103 z2 -75.466103 +2025-06-09 10:53:58.733 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:53:58.735 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:53:58.735 speed 50.000000 +2025-06-09 10:53:58.735 tcp_distance 144.069748 +2025-06-09 10:53:58.735 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940685 +2025-06-09 10:53:58.735 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308070 +2025-06-09 10:53:58.735 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-09 10:53:58.735 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-09 10:53:58.735 end_speed 50.000000 +2025-06-09 10:53:58.735 trail_number2.881395 +2025-06-09 10:53:58.735 tcp_distance 144.069748 +2025-06-09 10:53:58.735 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-09 10:54:01.714 30 30 30 30 +2025-06-09 10:54:01.714 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 50.000000 0.000000 1 +2025-06-09 10:54:01.714 goal_angle -11.002804 84.112190 +2025-06-09 10:54:01.714 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 50.000000 +2025-06-09 10:54:01.717 z1 -75.466103 z2 -75.466103 +2025-06-09 10:54:01.717 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:54:01.717 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-09 10:54:01.717 speed 50.000000 +2025-06-09 10:54:01.717 tcp_distance 144.322098 +2025-06-09 10:54:01.717 new_end_speed 50.000000 j1_acc_t 1.443221 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 25.697960 +2025-06-09 10:54:01.717 new_end_speed 50.000000 j2_acc_t 1.443221 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 11.026386 +2025-06-09 10:54:01.717 new_end_speed 50.000000 j3_acc_t 1.443221 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-09 10:54:01.717 new_end_speed 50.000000 j4_acc_t 1.443221 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-09 10:54:01.717 end_speed 50.000000 +2025-06-09 10:54:01.717 trail_number2.886442 +2025-06-09 10:54:01.719 tcp_distance 144.322098 +2025-06-09 10:54:01.719 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 +2025-06-09 10:54:09.427 30 30 30 30 +2025-06-09 10:54:09.427 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 50.000000 0.000000 1 +2025-06-09 10:54:09.427 goal_angle -87.199585 152.604431 +2025-06-09 10:54:09.427 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 50.000000 +2025-06-09 10:54:09.427 z1 -75.466103 z2 -4.457100 +2025-06-09 10:54:09.427 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008 +2025-06-09 10:54:09.427 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-09 10:54:09.427 speed 50.000000 +2025-06-09 10:54:09.427 tcp_distance 288.737366 +2025-06-09 10:54:09.427 new_end_speed 50.000000 j1_acc_t 2.887374 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 28.863682 +2025-06-09 10:54:09.427 new_end_speed 50.000000 j2_acc_t 2.887374 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.945168 +2025-06-09 10:54:09.427 new_end_speed 50.000000 j3_acc_t 2.887374 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 26.898527 +2025-06-09 10:54:09.427 new_end_speed 50.000000 j4_acc_t 2.887374 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 8.409093 +2025-06-09 10:54:09.427 end_speed 50.000000 +2025-06-09 10:54:09.427 trail_number5.774747 +2025-06-09 10:54:09.427 tcp_distance 288.737366 +2025-06-09 10:54:09.427 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 diff --git a/HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt b/HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt new file mode 100644 index 0000000..ad6e7c2 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt @@ -0,0 +1,6 @@ +# X,Y,Z,R +274.065,-302.7438,-75.4661,-1005.721 +274.065,-137.1582,-75.4661,-1005.721 +274.065,5.9653,-75.4661,-1005.721 +274.065,149.3837,-75.4661,-1005.721 +93.9893,-37.883,-4.4571,-1027.92 \ No newline at end of file diff --git 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