diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index 780fb53..2118351 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -103,6 +103,8 @@ this.btn_Pause = new System.Windows.Forms.Button(); this.btn_Start = new System.Windows.Forms.Button(); this.tap_Cam = new System.Windows.Forms.TabPage(); + this.pictureBox1 = new System.Windows.Forms.PictureBox(); + this.button1 = new System.Windows.Forms.Button(); this.cam_feed = new System.Windows.Forms.PictureBox(); this.cam_shooting = new System.Windows.Forms.Button(); this.init_pos_btn = new System.Windows.Forms.Button(); @@ -115,8 +117,6 @@ 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.button1 = new System.Windows.Forms.Button(); - this.pictureBox1 = new System.Windows.Forms.PictureBox(); this.tac_MainForm.SuspendLayout(); this.tap_Axis.SuspendLayout(); this.grb_R.SuspendLayout(); @@ -130,9 +130,9 @@ this.grb_joint_origin.SuspendLayout(); this.tap_Move.SuspendLayout(); this.tap_Cam.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit(); this.panel1.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); this.SuspendLayout(); // // btn_Init @@ -177,6 +177,7 @@ this.tap_Axis.TabIndex = 0; this.tap_Axis.Text = "轴移动"; this.tap_Axis.UseVisualStyleBackColor = true; + this.tap_Axis.Click += new System.EventHandler(this.tap_Axis_Click); // // lbl_Inching_Tip // @@ -1010,12 +1011,32 @@ this.tap_Cam.TabIndex = 4; this.tap_Cam.Text = "相机点位"; this.tap_Cam.UseVisualStyleBackColor = true; + this.tap_Cam.Click += new System.EventHandler(this.tap_Cam_Click); + // + // pictureBox1 + // + this.pictureBox1.Location = new System.Drawing.Point(797, 143); + this.pictureBox1.Name = "pictureBox1"; + this.pictureBox1.Size = new System.Drawing.Size(333, 300); + this.pictureBox1.TabIndex = 10; + this.pictureBox1.TabStop = false; + this.pictureBox1.Click += new System.EventHandler(this.pictureBox1_Click); + // + // button1 + // + this.button1.Location = new System.Drawing.Point(892, 492); + this.button1.Name = "button1"; + this.button1.Size = new System.Drawing.Size(161, 43); + this.button1.TabIndex = 9; + this.button1.Text = "开始目标检测"; + this.button1.UseVisualStyleBackColor = true; + this.button1.Click += new System.EventHandler(this.button1_Click_2); // // cam_feed // - this.cam_feed.Location = new System.Drawing.Point(422, 143); + this.cam_feed.Location = new System.Drawing.Point(422, 156); this.cam_feed.Name = "cam_feed"; - this.cam_feed.Size = new System.Drawing.Size(333, 300); + this.cam_feed.Size = new System.Drawing.Size(333, 276); this.cam_feed.TabIndex = 8; this.cam_feed.TabStop = false; this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click); @@ -1126,25 +1147,6 @@ this.rit_Coord.Text = ""; this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged); // - // button1 - // - this.button1.Location = new System.Drawing.Point(892, 492); - this.button1.Name = "button1"; - this.button1.Size = new System.Drawing.Size(161, 43); - this.button1.TabIndex = 9; - this.button1.Text = "开始目标检测"; - this.button1.UseVisualStyleBackColor = true; - this.button1.Click += new System.EventHandler(this.button1_Click_2); - // - // pictureBox1 - // - this.pictureBox1.Location = new System.Drawing.Point(797, 143); - this.pictureBox1.Name = "pictureBox1"; - this.pictureBox1.Size = new System.Drawing.Size(333, 300); - this.pictureBox1.TabIndex = 10; - this.pictureBox1.TabStop = false; - this.pictureBox1.Click += new System.EventHandler(this.pictureBox1_Click); - // // ShowForm // this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F); @@ -1184,9 +1186,9 @@ this.tap_Move.ResumeLayout(false); this.tap_Move.PerformLayout(); this.tap_Cam.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit(); this.panel1.ResumeLayout(false); - ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); this.ResumeLayout(false); this.PerformLayout(); diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index 19cffdf..2672ba1 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -305,7 +305,6 @@ namespace HitBotCSharpDemo paramForm.ShowDialog(this); } } - private void SetCameraParameters(float exposure, float gain) { if (device == null) return; @@ -981,7 +980,7 @@ namespace HitBotCSharpDemo { // 停止检测 StopDetection(); - ((Button)sender).Text = "开始目标检测"; + ((Button)sender).Text = "开始检测"; MessageBox.Show("目标检测已停止"); } } @@ -1068,7 +1067,13 @@ namespace HitBotCSharpDemo try { string fileName = "temp_detection_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".jpg"; - string fullPath = Path.Combine(Application.StartupPath, fileName); + string detectionFolder = Path.Combine(Application.StartupPath, "DetectionImages"); + string fullPath = Path.Combine(detectionFolder, fileName); + + if (!Directory.Exists(detectionFolder)) + { + Directory.CreateDirectory(detectionFolder); + } ImageFormatInfo imageFormatInfo = new ImageFormatInfo(); imageFormatInfo.FormatType = ImageFormatType.Jpeg; @@ -1085,7 +1090,7 @@ namespace HitBotCSharpDemo } catch (Exception ex) { - Console.WriteLine("保存图像失败: " + ex.Message); + MessageBox.Show("保存图像失败: " + ex.Message); } return null; } @@ -1206,6 +1211,14 @@ namespace HitBotCSharpDemo tcpClient = null; } + private void tap_Axis_Click(object sender, EventArgs e) + { + } + + private void tap_Cam_Click(object sender, EventArgs e) + { + + } } } diff --git a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt index 0a43f7f..e1e39dd 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt +++ b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt @@ -1,2 +1,2 @@ -Exposure=60000 -Gain=2 +Exposure=50000 +Gain=0 diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index d060261..a7cd0f9 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 3551f41..8a393d9 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/Photo_20250610_103512.jpg b/HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_103512.jpg deleted file mode 100644 index c522379..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_103512.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_155608.jpg b/HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_155608.jpg deleted file mode 100644 index cf9b25a..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_155608.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog index 1b5cc40..63e5a7c 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog @@ -998,3 +998,42 @@ 2025-06-10 20:39:48.155 set_first_position_after_initial 2025-06-10 20:39:48.156 movej_old start_pos: -11.001500 84.113197 -75.479797 -1005.719482 end_pos: -11.001500 84.113197 -75.479797 -1005.719482 org_sp 10.000000 end_sp 10.000000 2025-06-10 20:39:48.447 J3 Belt Meilage=40.899525km +2025-06-10 20:56:11.751 SDK_VERSION_V2.0.0.29_Release +2025-06-10 20:56:11.751 robot connected +2025-06-10 20:56:11.751 26 +2025-06-10 20:56:11.751 current generation=26 +2025-06-10 20:56:12.255 0x1a +2025-06-10 20:56:12.255 initial return 3 ĩ˹ؽڲ޶Χʹjoint_homeʹؽǿƻ +2025-06-10 20:56:13.882 SDK_VERSION_V2.0.0.29_Release +2025-06-10 20:56:13.882 robot connected +2025-06-10 20:56:13.882 26 +2025-06-10 20:56:13.882 current generation=26 +2025-06-10 20:56:14.401 0x1a +2025-06-10 20:56:15.263 initial joint2 2449978 +2025-06-10 20:56:15.263 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-10 20:56:15.263 robot WritePID +2025-06-10 20:56:15.575 initial joint1 -160221 +2025-06-10 20:56:15.622 initial joint2 2449980 +2025-06-10 20:56:15.659 initial joint3 -219855 +2025-06-10 20:56:15.709 initial joint4 -25369372 +2025-06-10 20:56:15.730 initial joint1 -160218 +2025-06-10 20:56:15.797 initial joint2 2449981 +2025-06-10 20:56:15.845 initial joint3 -219857 +2025-06-10 20:56:15.878 initial joint4 -25369373 +2025-06-10 20:56:15.894 initial joint1 -160218 +2025-06-10 20:56:15.942 initial joint2 2449983 +2025-06-10 20:56:15.981 initial joint3 -219859 +2025-06-10 20:56:16.029 initial joint4 -25369375 +2025-06-10 20:56:18.177 initial_thread initialized +2025-06-10 20:56:18.177 servo enable +2025-06-10 20:56:18.177 brake open +2025-06-10 20:56:18.177 set_brake_state 0 1 +2025-06-10 20:56:18.391 robot initialized +2025-06-10 20:56:18.982 get_scara_param -11.001200 84.113503 -75.484596 -1005.719299 +2025-06-10 20:56:18.982 get_scara_real_coor -11.001400 84.113503 -75.484299 -1005.719482 +2025-06-10 20:56:18.982 λɢ +2025-06-10 20:56:18.982 position -160216.578125 2449983.250000 -219864.828125 -25369378.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-10 20:56:18.982 speed 11001.199219 84113.500000 75484.593750 1045186.187500 +2025-06-10 20:56:18.982 set_first_position_after_initial +2025-06-10 20:56:18.982 movej_old start_pos: -11.001200 84.113503 -75.484596 -1005.719299 end_pos: -11.001200 84.113503 -75.484497 -1005.719299 org_sp 10.000000 end_sp 0.416586 +2025-06-10 20:56:19.289 J3 Belt Meilage=40.899658km diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog new file mode 100644 index 0000000..71048b0 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog @@ -0,0 +1,206 @@ +2025-06-11 10:01:05.852 ROBOT_ERROR_CODE = 1004 +2025-06-11 10:01:05.853 +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 : 3963 4137 3951 4135 4137 0 +2025-06-11 10:01:10.332 SDK_VERSION_V2.0.0.29_Release +2025-06-11 10:01:10.332 robot connected +2025-06-11 10:01:10.332 26 +2025-06-11 10:01:10.334 current generation=26 +2025-06-11 10:01:10.909 0x1a +2025-06-11 10:01:10.909 initial return 3 ĩ˹ؽڲ޶Χʹjoint_homeʹؽǿƻ +2025-06-11 10:01:12.871 SDK_VERSION_V2.0.0.29_Release +2025-06-11 10:01:12.871 robot connected +2025-06-11 10:01:12.871 26 +2025-06-11 10:01:12.871 current generation=26 +2025-06-11 10:01:13.382 0x1a +2025-06-11 10:01:14.313 initial joint2 2451785 +2025-06-11 10:01:14.313 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 10:01:14.313 robot WritePID +2025-06-11 10:01:14.616 initial joint1 -160324 +2025-06-11 10:01:14.653 initial joint2 2451786 +2025-06-11 10:01:14.716 initial joint3 -220099 +2025-06-11 10:01:14.766 initial joint4 -25368944 +2025-06-11 10:01:14.783 initial joint1 -160324 +2025-06-11 10:01:14.831 initial joint2 2451785 +2025-06-11 10:01:14.882 initial joint3 -220099 +2025-06-11 10:01:14.932 initial joint4 -25368944 +2025-06-11 10:01:14.950 initial joint1 -160323 +2025-06-11 10:01:15.017 initial joint2 2451785 +2025-06-11 10:01:15.068 initial joint3 -220100 +2025-06-11 10:01:15.117 initial joint4 -25368944 +2025-06-11 10:01:17.275 initial_thread initialized +2025-06-11 10:01:17.275 servo enable +2025-06-11 10:01:17.275 brake open +2025-06-11 10:01:17.275 set_brake_state 0 1 +2025-06-11 10:01:17.488 robot initialized +2025-06-11 10:01:18.041 get_scara_param -11.008500 84.175400 -75.565598 -1005.671570 +2025-06-11 10:01:18.041 get_scara_real_coor -11.008400 84.175400 -75.565300 -1005.671570 +2025-06-11 10:01:18.041 λɢ +2025-06-11 10:01:18.043 position -160322.906250 2451786.250000 -220100.750000 -25368942.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-11 10:01:18.043 speed 11008.500977 84175.398438 75565.593750 1045168.250000 +2025-06-11 10:01:18.043 set_first_position_after_initial +2025-06-11 10:01:18.045 movej_old start_pos: -11.008500 84.175400 -75.565598 -1005.671509 end_pos: -11.008500 84.175400 -75.565598 -1005.671509 org_sp 10.000000 end_sp 10.000000 +2025-06-11 10:01:18.340 J3 Belt Meilage=40.899685km +2025-06-11 10:13:13.041 SDK_VERSION_V2.0.0.29_Release +2025-06-11 10:13:13.041 robot connected +2025-06-11 10:13:13.041 26 +2025-06-11 10:13:13.041 current generation=26 +2025-06-11 10:13:13.551 0x1a +2025-06-11 10:13:14.388 initial joint2 2451789 +2025-06-11 10:13:14.388 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 10:13:14.388 robot WritePID +2025-06-11 10:13:14.704 initial joint1 -160322 +2025-06-11 10:13:14.751 initial joint2 2451788 +2025-06-11 10:13:14.802 initial joint3 -220104 +2025-06-11 10:13:14.854 initial joint4 -25368944 +2025-06-11 10:13:14.870 initial joint1 -160322 +2025-06-11 10:13:14.920 initial joint2 2451791 +2025-06-11 10:13:14.959 initial joint3 -220108 +2025-06-11 10:13:15.005 initial joint4 -25368946 +2025-06-11 10:13:15.021 initial joint1 -160322 +2025-06-11 10:13:15.070 initial joint2 2451793 +2025-06-11 10:13:15.108 initial joint3 -220110 +2025-06-11 10:13:15.156 initial joint4 -25368948 +2025-06-11 10:13:17.426 initial_thread initialized +2025-06-11 10:13:17.426 servo enable +2025-06-11 10:13:17.427 brake open +2025-06-11 10:13:17.427 set_brake_state 0 1 +2025-06-11 10:13:17.628 robot initialized +2025-06-11 10:13:18.194 get_scara_param -11.008400 84.175797 -75.569099 -1005.671387 +2025-06-11 10:13:18.195 get_scara_real_coor -11.008300 84.175697 -75.569801 -1005.671509 +2025-06-11 10:13:18.195 λɢ +2025-06-11 10:13:18.195 position -160321.437500 2451797.750000 -220110.953125 -25368948.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-11 10:13:18.195 speed 11008.399414 84175.796875 75569.101563 1045168.562500 +2025-06-11 10:13:18.195 set_first_position_after_initial +2025-06-11 10:13:18.197 movej_old start_pos: -11.008400 84.175797 -75.569099 -1005.671448 end_pos: -11.008400 84.175690 -75.569099 -1005.671448 org_sp 10.000000 end_sp 0.793652 +2025-06-11 10:13:18.495 J3 Belt Meilage=40.899982km +2025-06-11 10:25:15.957 SDK_VERSION_V2.0.0.29_Release +2025-06-11 10:25:15.958 robot connected +2025-06-11 10:25:15.958 26 +2025-06-11 10:25:15.958 current generation=26 +2025-06-11 10:25:16.482 0x1a +2025-06-11 10:25:17.339 initial joint2 2451799 +2025-06-11 10:25:17.344 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 10:25:17.344 robot WritePID +2025-06-11 10:25:17.659 initial joint1 -160320 +2025-06-11 10:25:17.707 initial joint2 2451798 +2025-06-11 10:25:17.759 initial joint3 -220114 +2025-06-11 10:25:17.796 initial joint4 -25368949 +2025-06-11 10:25:17.810 initial joint1 -160320 +2025-06-11 10:25:17.858 initial joint2 2451800 +2025-06-11 10:25:17.908 initial joint3 -220117 +2025-06-11 10:25:17.959 initial joint4 -25368951 +2025-06-11 10:25:17.975 initial joint1 -160320 +2025-06-11 10:25:18.014 initial joint2 2451800 +2025-06-11 10:25:18.060 initial joint3 -220118 +2025-06-11 10:25:18.110 initial joint4 -25368951 +2025-06-11 10:25:20.281 initial_thread initialized +2025-06-11 10:25:20.282 servo enable +2025-06-11 10:25:20.282 brake open +2025-06-11 10:25:20.282 set_brake_state 0 1 +2025-06-11 10:25:20.496 robot initialized +2025-06-11 10:25:21.062 get_scara_param -11.008300 84.175903 -75.571800 -1005.671387 +2025-06-11 10:25:21.062 get_scara_real_coor -11.008300 84.175903 -75.571800 -1005.671387 +2025-06-11 10:25:21.063 λɢ +2025-06-11 10:25:21.063 position -160319.984375 2451801.000000 -220118.828125 -25368952.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-11 10:25:21.063 speed 11008.299805 84175.906250 75571.796875 1045168.625000 +2025-06-11 10:25:21.063 set_first_position_after_initial +2025-06-11 10:25:21.065 movej_old start_pos: -11.008300 84.175903 -75.571800 -1005.671448 end_pos: -11.008300 84.175903 -75.571800 -1005.671448 org_sp 10.000000 end_sp 10.000000 +2025-06-11 10:25:21.348 J3 Belt Meilage=40.900135km +2025-06-11 10:25:57.915 SDK_VERSION_V2.0.0.29_Release +2025-06-11 10:25:57.915 robot connected +2025-06-11 10:25:57.915 26 +2025-06-11 10:25:57.915 current generation=26 +2025-06-11 10:25:58.423 0x1a +2025-06-11 10:25:59.287 initial joint2 2451807 +2025-06-11 10:25:59.287 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 10:25:59.288 robot WritePID +2025-06-11 10:25:59.588 initial joint1 -160319 +2025-06-11 10:25:59.638 initial joint2 2451808 +2025-06-11 10:25:59.687 initial joint3 -220123 +2025-06-11 10:25:59.738 initial joint4 -25368953 +2025-06-11 10:25:59.753 initial joint1 -160319 +2025-06-11 10:25:59.806 initial joint2 2451811 +2025-06-11 10:25:59.854 initial joint3 -220127 +2025-06-11 10:25:59.904 initial joint4 -25368953 +2025-06-11 10:25:59.921 initial joint1 -160318 +2025-06-11 10:25:59.989 initial joint2 2451814 +2025-06-11 10:26:00.040 initial joint3 -220127 +2025-06-11 10:26:00.088 initial joint4 -25368954 +2025-06-11 10:26:02.176 initial_thread initialized +2025-06-11 10:26:02.176 servo enable +2025-06-11 10:26:02.178 brake open +2025-06-11 10:26:02.178 set_brake_state 0 1 +2025-06-11 10:26:02.392 robot initialized +2025-06-11 10:26:02.944 get_scara_param -11.008100 84.176399 -75.574898 -1005.671082 +2025-06-11 10:26:02.945 get_scara_real_coor -11.008000 84.176399 -75.575600 -1005.671021 +2025-06-11 10:26:02.945 λɢ +2025-06-11 10:26:02.945 position -160317.062500 2451815.250000 -220127.843750 -25368954.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-11 10:26:02.945 speed 11008.098633 84176.398438 75574.898438 1045168.687500 +2025-06-11 10:26:02.946 set_first_position_after_initial +2025-06-11 10:26:02.946 movej_old start_pos: -11.008099 84.176399 -75.574898 -1005.671021 end_pos: -11.008000 84.176399 -75.574898 -1005.671021 org_sp 10.000000 end_sp 1.001936 +2025-06-11 10:26:03.228 J3 Belt Meilage=40.900143km +2025-06-11 10:26:19.295 30 30 30 30 +2025-06-11 10:26:19.295 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 10:26:19.295 goal_angle -44.911705 98.661697 +2025-06-11 10:26:19.295 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 10:26:19.295 z1 -75.574898 z2 -75.466103 +2025-06-11 10:26:19.295 angle1_1 -11.008000 angle2_1 84.176399 z1 -75.574898 r1 -1005.671021 +2025-06-11 10:26:19.295 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-11 10:26:19.295 speed 100.000000 +2025-06-11 10:26:19.295 tcp_distance 144.446823 +2025-06-11 10:26:19.295 new_end_speed 100.000000 j1_acc_t 0.722234 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.343678 +2025-06-11 10:26:19.295 new_end_speed 100.000000 j2_acc_t 0.722234 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.936497 +2025-06-11 10:26:19.295 new_end_speed 100.000000 j3_acc_t 0.722234 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.164759 +2025-06-11 10:26:19.295 new_end_speed 100.000000 j4_acc_t 0.722234 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.075701 +2025-06-11 10:26:19.295 end_speed 100.000000 +2025-06-11 10:26:19.295 trail_number1.444468 +2025-06-11 10:26:19.307 tcp_distance 144.446823 +2025-06-11 10:26:19.307 angle1_1 = -11.008000 angle2_1 = 84.176399 z1 = -75.574898 r1 = -1005.671021 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 10:28:43.944 SDK_VERSION_V2.0.0.29_Release +2025-06-11 10:28:43.944 robot connected +2025-06-11 10:28:43.944 26 +2025-06-11 10:28:43.946 current generation=26 +2025-06-11 10:28:44.452 0x1a +2025-06-11 10:28:45.300 initial joint2 2873736 +2025-06-11 10:28:45.301 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 10:28:45.301 robot WritePID +2025-06-11 10:28:45.602 initial joint1 -654074 +2025-06-11 10:28:45.654 initial joint2 2873733 +2025-06-11 10:28:45.701 initial joint3 -219824 +2025-06-11 10:28:45.725 initial joint4 -24758199 +2025-06-11 10:28:45.755 initial joint1 -654074 +2025-06-11 10:28:45.803 initial joint2 2873736 +2025-06-11 10:28:45.870 initial joint3 -219829 +2025-06-11 10:28:45.919 initial joint4 -24758200 +2025-06-11 10:28:45.935 initial joint1 -654074 +2025-06-11 10:28:45.986 initial joint2 2873737 +2025-06-11 10:28:46.037 initial joint3 -219834 +2025-06-11 10:28:46.087 initial joint4 -24758201 +2025-06-11 10:28:48.232 initial_thread initialized +2025-06-11 10:28:48.232 servo enable +2025-06-11 10:28:48.232 brake open +2025-06-11 10:28:48.232 set_brake_state 0 1 +2025-06-11 10:28:48.434 robot initialized +2025-06-11 10:28:48.992 get_scara_param -44.911701 98.662003 -75.475304 -1005.721008 +2025-06-11 10:28:48.992 get_scara_real_coor -44.911598 98.662003 -75.475304 -1005.721130 +2025-06-11 10:28:48.992 λɢ +2025-06-11 10:28:48.992 position -654074.062500 2873739.000000 -219837.750000 -24758200.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-11 10:28:48.993 speed 44911.703125 98662.000000 75475.304688 1020006.437500 +2025-06-11 10:28:48.993 set_first_position_after_initial +2025-06-11 10:28:48.993 movej_old start_pos: -44.911701 98.662003 -75.475304 -1005.720947 end_pos: -44.911701 98.662003 -75.475304 -1005.720886 org_sp 10.000000 end_sp 10.000000 +2025-06-11 10:28:49.275 J3 Belt Meilage=40.900181km diff --git a/HitBotCSharpDemo/bin/x64/Debug/temp_detection_20250610195424.jpg b/HitBotCSharpDemo/bin/x64/Debug/temp_detection_20250610195424.jpg deleted file mode 100644 index 979df13..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/temp_detection_20250610195424.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/temp_detection_20250610201343.jpg b/HitBotCSharpDemo/bin/x64/Debug/temp_detection_20250610201343.jpg deleted file mode 100644 index 99e0a98..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/temp_detection_20250610201343.jpg and /dev/null differ diff --git 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