From 8aa26eef17f78ef17095f7f004582e494c74f079 Mon Sep 17 00:00:00 2001 From: uu Date: Mon, 9 Jun 2025 10:55:10 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=9B=9B=E4=B8=AA=E7=9B=B8?= =?UTF-8?q?=E6=9C=BA=E7=82=B9=E4=BD=8D=E7=A7=BB=E5=8A=A8=E5=92=8C=E4=B8=80?= =?UTF-8?q?=E4=B8=AA=E5=BD=92=E4=BD=8D=E6=8C=89=E9=92=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HitBotCSharpDemo/ShowForm.Designer.cs | 1 + HitBotCSharpDemo/ShowForm.cs | 124 +++++- .../{ => bin/x64/Debug}/Cam_pos_path.txt | 0 .../bin/x64/Debug/HitBotCSharpDemo.exe | Bin 307200 -> 308736 bytes .../bin/x64/Debug/HitBotCSharpDemo.pdb | Bin 58880 -> 60928 bytes .../x64/Debug/SDK_LOG/id_74_2025-06-09.hilog | 363 ++++++++++++++++++ .../bin/x64/Release/Cam_pos_path.txt | 6 + .../CSharpDemo.csproj.GenerateResource.cache | Bin 132 -> 132 bytes .../obj/x64/Debug/HitBotCSharpDemo.exe | Bin 307200 -> 308736 bytes .../obj/x64/Debug/HitBotCSharpDemo.pdb | Bin 58880 -> 60928 bytes 10 files changed, 488 insertions(+), 6 deletions(-) rename HitBotCSharpDemo/{ => bin/x64/Debug}/Cam_pos_path.txt (100%) create mode 100644 HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt 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 48d15b5d1bee03d3cea83ff0ab44ed038609ad41..36b4d4af07326b7a48dbe36cf4cc8f45fdb85af7 100644 GIT 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