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uu
2025-06-09 15:40:12 +08:00
parent 8aa26eef17
commit cce18ebcb1
19 changed files with 19272 additions and 23 deletions
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3
HitBotCSharpDemo/CSharpDemo.csproj
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@@ -77,6 +77,9 @@
<SpecificVersion>False</SpecificVersion>
<HintPath>bin\x64\Release\ClassLibrary_ControlBean.dll</HintPath>
</Reference>
<Reference Include="MvCameraControl.Net">
<HintPath>..\..\..\..\..\..\..\Program Files (x86)\MVS\Development\DotNet\AnyCpu\MvCameraControl.Net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Xml.Linq" />

14
HitBotCSharpDemo/CameraManager.cs Normal file
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@@ -0,0 +1,14 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MvCamCtrl.NET;
namespace HitBotCSharpDemo
{
public class CameraManager
{
}
}

50
HitBotCSharpDemo/ShowForm.Designer.cs generated
View File

@@ -113,6 +113,9 @@
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.cam_connected = new System.Windows.Forms.Button();
this.cam_shooting = new System.Windows.Forms.Button();
this.cam_feed = new System.Windows.Forms.PictureBox();
this.tac_MainForm.SuspendLayout();
this.tap_Axis.SuspendLayout();
this.grb_R.SuspendLayout();
@@ -127,6 +130,7 @@
this.tap_Move.SuspendLayout();
this.tap_Cam.SuspendLayout();
this.panel1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit();
this.SuspendLayout();
//
// btn_Init
@@ -988,6 +992,9 @@
//
// tap_Cam
//
this.tap_Cam.Controls.Add(this.cam_feed);
this.tap_Cam.Controls.Add(this.cam_shooting);
this.tap_Cam.Controls.Add(this.cam_connected);
this.tap_Cam.Controls.Add(this.init_pos_btn);
this.tap_Cam.Controls.Add(this.cam_btn_4);
this.tap_Cam.Controls.Add(this.cam_btn_3);
@@ -1003,7 +1010,7 @@
//
// init_pos_btn
//
this.init_pos_btn.Location = new System.Drawing.Point(152, 449);
this.init_pos_btn.Location = new System.Drawing.Point(222, 470);
this.init_pos_btn.Name = "init_pos_btn";
this.init_pos_btn.Size = new System.Drawing.Size(128, 43);
this.init_pos_btn.TabIndex = 4;
@@ -1013,7 +1020,7 @@
//
// cam_btn_4
//
this.cam_btn_4.Location = new System.Drawing.Point(152, 359);
this.cam_btn_4.Location = new System.Drawing.Point(222, 383);
this.cam_btn_4.Name = "cam_btn_4";
this.cam_btn_4.Size = new System.Drawing.Size(128, 43);
this.cam_btn_4.TabIndex = 3;
@@ -1023,7 +1030,7 @@
//
// cam_btn_3
//
this.cam_btn_3.Location = new System.Drawing.Point(152, 278);
this.cam_btn_3.Location = new System.Drawing.Point(222, 289);
this.cam_btn_3.Name = "cam_btn_3";
this.cam_btn_3.Size = new System.Drawing.Size(128, 43);
this.cam_btn_3.TabIndex = 2;
@@ -1033,7 +1040,7 @@
//
// cam_btn_2
//
this.cam_btn_2.Location = new System.Drawing.Point(152, 195);
this.cam_btn_2.Location = new System.Drawing.Point(222, 201);
this.cam_btn_2.Name = "cam_btn_2";
this.cam_btn_2.Size = new System.Drawing.Size(128, 43);
this.cam_btn_2.TabIndex = 1;
@@ -1043,7 +1050,7 @@
//
// cam_btn_1
//
this.cam_btn_1.Location = new System.Drawing.Point(152, 117);
this.cam_btn_1.Location = new System.Drawing.Point(222, 117);
this.cam_btn_1.Name = "cam_btn_1";
this.cam_btn_1.Size = new System.Drawing.Size(128, 43);
this.cam_btn_1.TabIndex = 0;
@@ -1097,6 +1104,35 @@
this.rit_Coord.Text = "";
this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged);
//
// cam_connected
//
this.cam_connected.Location = new System.Drawing.Point(796, 470);
this.cam_connected.Name = "cam_connected";
this.cam_connected.Size = new System.Drawing.Size(130, 43);
this.cam_connected.TabIndex = 6;
this.cam_connected.Text = "摄像头链接";
this.cam_connected.UseVisualStyleBackColor = true;
this.cam_connected.Click += new System.EventHandler(this.button2_Click_1);
//
// cam_shooting
//
this.cam_shooting.Location = new System.Drawing.Point(626, 470);
this.cam_shooting.Name = "cam_shooting";
this.cam_shooting.Size = new System.Drawing.Size(128, 43);
this.cam_shooting.TabIndex = 7;
this.cam_shooting.Text = "拍摄";
this.cam_shooting.UseVisualStyleBackColor = true;
this.cam_shooting.Click += new System.EventHandler(this.button1_Click_1);
//
// cam_feed
//
this.cam_feed.Location = new System.Drawing.Point(598, 117);
this.cam_feed.Name = "cam_feed";
this.cam_feed.Size = new System.Drawing.Size(357, 318);
this.cam_feed.TabIndex = 8;
this.cam_feed.TabStop = false;
this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click);
//
// ShowForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
@@ -1137,6 +1173,7 @@
this.tap_Move.PerformLayout();
this.tap_Cam.ResumeLayout(false);
this.panel1.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
@@ -1227,6 +1264,9 @@
private System.Windows.Forms.Button cam_btn_2;
private System.Windows.Forms.Button cam_btn_1;
private System.Windows.Forms.Button init_pos_btn;
private System.Windows.Forms.Button cam_connected;
private System.Windows.Forms.Button cam_shooting;
private System.Windows.Forms.PictureBox cam_feed;
}
}

43
HitBotCSharpDemo/ShowForm.cs
View File

@@ -5,7 +5,7 @@ using System.Threading;
using System.Windows.Forms;
using ControlBeanExDll;
using TcpserverExDll;
using MvCamCtrl.NET;
namespace HitBotCSharpDemo
{
public partial class ShowForm : Form
@@ -89,15 +89,14 @@ namespace HitBotCSharpDemo
}
}
}
if (positionIndex == 5)
{
MessageBox.Show("成功加载5个相机位置点位");
}
else
{
MessageBox.Show($"只加载了{positionIndex}个点位，需要5个点位");
}
//if (positionIndex == 5)
//{
// MessageBox.Show("成功加载5个相机位置点位");
//}
//else
//{
// MessageBox.Show($"只加载了{positionIndex}个点位，需要5个点位");
//}
}
else
{
@@ -136,7 +135,7 @@ namespace HitBotCSharpDemo
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);
int result = robot.new_movej_xyz_lr(x, y, z, r, 100, 0, currentHand);
if (result != 1)
{
@@ -615,5 +614,27 @@ namespace HitBotCSharpDemo
{
MoveToPosition(4);
}
private void button2_Click_1(object sender, EventArgs e)
{
// 测试1：枚举设备
MyCamera.MV_CC_DEVICE_INFO_LIST deviceList = new MyCamera.MV_CC_DEVICE_INFO_LIST();
int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref deviceList);
//MessageBox.Show($"SDK初始化成功！返回值: {nRet}");
MessageBox.Show($"发现设备数量: {deviceList.nDeviceNum}");
}
private void button1_Click_1(object sender, EventArgs e)
{
}
private void cam_feed_Click(object sender, EventArgs e)
{
}
}
}

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HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe
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HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb
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HitBotCSharpDemo/bin/x64/Debug/MvCameraControl.Net.dll Normal file
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18755
HitBotCSharpDemo/bin/x64/Debug/MvCameraControl.Net.xml Normal file
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419
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog
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@@ -430,3 +430,422 @@
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
2025-06-09 11:19:44.727 SDK_VERSION_V2.0.0.29_Release
2025-06-09 11:19:44.727 robot connected
2025-06-09 11:19:44.727 26
2025-06-09 11:19:44.727 current generation=26
2025-06-09 11:19:45.230 0x1a
2025-06-09 11:19:46.060 initial joint2 4444931
2025-06-09 11:19:46.060 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-09 11:19:46.060 robot WritePID
2025-06-09 11:19:46.362 initial joint1 -1269935
2025-06-09 11:19:46.409 initial joint2 4444931
2025-06-09 11:19:46.472 initial joint3 -12991
2025-06-09 11:19:46.519 initial joint4 -25056187
2025-06-09 11:19:46.549 initial joint1 -1269935
2025-06-09 11:19:46.598 initial joint2 4444934
2025-06-09 11:19:46.643 initial joint3 -12991
2025-06-09 11:19:46.692 initial joint4 -25056188
2025-06-09 11:19:46.703 initial joint1 -1269934
2025-06-09 11:19:46.752 initial joint2 4444935
2025-06-09 11:19:46.806 initial joint3 -12991
2025-06-09 11:19:46.847 initial joint4 -25056188
2025-06-09 11:19:49.050 initial_thread initialized
2025-06-09 11:19:49.050 servo enable
2025-06-09 11:19:49.050 brake open
2025-06-09 11:19:49.050 set_brake_state 0 1
2025-06-09 11:19:49.270 robot initialized
2025-06-09 11:19:49.842 get_scara_param -87.199402 152.604797 -4.460400 -1027.919678
2025-06-09 11:19:49.842 get_scara_real_coor -87.199402 152.604797 -4.460100 -1027.919800
2025-06-09 11:19:49.842 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-09 11:19:49.842 position -1269933.375000 4444937.000000 -12991.857422 -25056186.000000 -1141049.125000 4213217.000000 -37004.613281 -25092562.000000
2025-06-09 11:19:49.842 speed 8849.779297 7955.474609 8244.125000 1498.645020
2025-06-09 11:19:49.842 set_first_position_after_initial
2025-06-09 11:19:49.842 movej_old start_pos: -87.199402 152.604797 -4.460400 -1027.919678 end_pos: -87.199402 152.604797 -4.460400 -1027.919678 org_sp 10.000000 end_sp 10.000000
2025-06-09 11:19:50.124 J3 Belt Meilage=40.888039km
2025-06-09 11:19:51.611 30 30 30 30
2025-06-09 11:19:51.611 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:19:51.611 goal_angle -60.720737 27.061800
2025-06-09 11:19:51.611 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:19:51.611 z1 -4.460400 z2 -75.466103
2025-06-09 11:19:51.611 angle1_1 -87.199402 angle2_1 152.604797 z1 -4.460400 r1 -1027.919678
2025-06-09 11:19:51.611 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
2025-06-09 11:19:51.611 speed 50.000000
2025-06-09 11:19:51.611 tcp_distance 361.527405
2025-06-09 11:19:51.617 new_end_speed 50.000000 j1_acc_t 3.615274 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.010745
2025-06-09 11:19:51.617 new_end_speed 50.000000 j2_acc_t 3.615274 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.981258
2025-06-09 11:19:51.617 new_end_speed 50.000000 j3_acc_t 3.615274 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 21.481770
2025-06-09 11:19:51.617 new_end_speed 50.000000 j4_acc_t 3.615274 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 6.715893
2025-06-09 11:19:51.617 end_speed 50.000000
2025-06-09 11:19:51.617 trail_number7.230548
2025-06-09 11:19:51.618 tcp_distance 361.527405
2025-06-09 11:19:51.618 angle1_1 = -87.199402 angle2_1 = 152.604797 z1 = -4.460400 r1 = -1027.919678 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
2025-06-09 11:19:58.470 30 30 30 30
2025-06-09 11:19:58.470 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:19:58.470 goal_angle -67.226128 86.401024
2025-06-09 11:19:58.470 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:19:58.470 z1 -75.466103 z2 -75.466103
2025-06-09 11:19:58.471 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
2025-06-09 11:19:58.471 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
2025-06-09 11:19:58.471 speed 50.000000
2025-06-09 11:19:58.471 tcp_distance 171.494293
2025-06-09 11:19:58.471 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 11:19:58.471 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 11:19:58.471 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 11:19:58.472 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 11:19:58.472 end_speed 50.000000
2025-06-09 11:19:58.472 trail_number3.429886
2025-06-09 11:19:58.472 tcp_distance 171.494293
2025-06-09 11:19:58.877 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 11:20:02.678 30 30 30 30
2025-06-09 11:20:02.678 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:20:02.678 goal_angle -44.911705 98.661697
2025-06-09 11:20:02.679 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:20:02.679 z1 -75.466103 z2 -75.466103
2025-06-09 11:20:02.679 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
2025-06-09 11:20:02.679 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
2025-06-09 11:20:02.679 speed 50.000000
2025-06-09 11:20:02.679 tcp_distance 144.069748
2025-06-09 11:20:02.679 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 11:20:02.679 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 11:20:02.680 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 11:20:02.680 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 11:20:02.680 end_speed 50.000000
2025-06-09 11:20:02.680 trail_number2.881395
2025-06-09 11:20:02.680 tcp_distance 144.069748
2025-06-09 11:20:02.680 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 11:20:05.929 30 30 30 30
2025-06-09 11:20:05.929 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:20:05.929 goal_angle -11.002804 84.112190
2025-06-09 11:20:05.929 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:20:05.929 z1 -75.466103 z2 -75.466103
2025-06-09 11:20:05.929 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
2025-06-09 11:20:05.929 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
2025-06-09 11:20:05.929 speed 50.000000
2025-06-09 11:20:05.929 tcp_distance 144.322098
2025-06-09 11:20:05.929 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 11:20:05.929 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 11:20:05.929 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 11:20:05.929 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 11:20:05.933 end_speed 50.000000
2025-06-09 11:20:05.933 trail_number2.886442
2025-06-09 11:20:05.933 tcp_distance 144.322098
2025-06-09 11:20:05.933 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 11:20:09.239 30 30 30 30
2025-06-09 11:20:09.239 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 50.000000 0.000000 1
2025-06-09 11:20:09.239 goal_angle -87.199585 152.604431
2025-06-09 11:20:09.239 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 50.000000
2025-06-09 11:20:09.239 z1 -75.466103 z2 -4.457100
2025-06-09 11:20:09.239 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
2025-06-09 11:20:09.239 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
2025-06-09 11:20:09.239 speed 50.000000
2025-06-09 11:20:09.241 tcp_distance 288.737366
2025-06-09 11:20:09.241 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 11:20:09.241 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 11:20:09.241 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 11:20:09.241 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 11:20:09.241 end_speed 50.000000
2025-06-09 11:20:09.241 trail_number5.774747
2025-06-09 11:20:09.241 tcp_distance 288.737366
2025-06-09 11:20:09.241 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 11:21:30.658 30 30 30 30
2025-06-09 11:21:30.658 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:21:30.658 goal_angle -60.720737 27.061800
2025-06-09 11:21:30.658 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:21:30.658 z1 -4.457100 z2 -75.466103
2025-06-09 11:21:30.658 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
2025-06-09 11:21:30.658 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
2025-06-09 11:21:30.658 speed 50.000000
2025-06-09 11:21:30.658 tcp_distance 361.526031
2025-06-09 11:21:30.658 new_end_speed 50.000000 j1_acc_t 3.615260 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.010832
2025-06-09 11:21:30.658 new_end_speed 50.000000 j2_acc_t 3.615260 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.981297
2025-06-09 11:21:30.658 new_end_speed 50.000000 j3_acc_t 3.615260 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 21.482853
2025-06-09 11:21:30.658 new_end_speed 50.000000 j4_acc_t 3.615260 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 6.716029
2025-06-09 11:21:30.658 end_speed 50.000000
2025-06-09 11:21:30.658 trail_number7.230521
2025-06-09 11:21:30.658 tcp_distance 361.526031
2025-06-09 11:21:30.658 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
2025-06-09 11:21:38.313 30 30 30 30
2025-06-09 11:21:38.313 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:21:38.313 goal_angle -67.226128 86.401024
2025-06-09 11:21:38.313 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:21:38.314 z1 -75.466103 z2 -75.466103
2025-06-09 11:21:38.314 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
2025-06-09 11:21:38.314 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
2025-06-09 11:21:38.314 speed 50.000000
2025-06-09 11:21:38.314 tcp_distance 171.494293
2025-06-09 11:21:38.315 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 11:21:38.315 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 11:21:38.315 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 11:21:38.315 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 11:21:38.315 end_speed 50.000000
2025-06-09 11:21:38.315 trail_number3.429886
2025-06-09 11:21:38.315 tcp_distance 171.494293
2025-06-09 11:21:38.316 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 11:21:41.448 30 30 30 30
2025-06-09 11:21:41.448 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:21:41.448 goal_angle -44.911705 98.661697
2025-06-09 11:21:41.448 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:21:41.448 z1 -75.466103 z2 -75.466103
2025-06-09 11:21:41.448 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
2025-06-09 11:21:41.448 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
2025-06-09 11:21:41.457 speed 50.000000
2025-06-09 11:21:41.457 tcp_distance 144.069748
2025-06-09 11:21:41.457 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 11:21:41.457 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 11:21:41.457 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 11:21:41.457 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 11:21:41.457 end_speed 50.000000
2025-06-09 11:21:41.457 trail_number2.881395
2025-06-09 11:21:41.457 tcp_distance 144.069748
2025-06-09 11:21:41.782 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 11:21:45.755 30 30 30 30
2025-06-09 11:21:45.755 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 50.000000 0.000000 1
2025-06-09 11:21:45.755 goal_angle -11.002804 84.112190
2025-06-09 11:21:45.755 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 50.000000
2025-06-09 11:21:45.755 z1 -75.466103 z2 -75.466103
2025-06-09 11:21:45.755 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
2025-06-09 11:21:45.755 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
2025-06-09 11:21:45.755 speed 50.000000
2025-06-09 11:21:45.755 tcp_distance 144.322098
2025-06-09 11:21:45.755 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 11:21:45.755 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 11:21:45.755 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 11:21:45.755 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 11:21:45.755 end_speed 50.000000
2025-06-09 11:21:45.755 trail_number2.886442
2025-06-09 11:21:45.755 tcp_distance 144.322098
2025-06-09 11:21:45.755 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 11:30:03.148 SDK_VERSION_V2.0.0.29_Release
2025-06-09 11:30:03.149 robot connected
2025-06-09 11:30:03.149 26
2025-06-09 11:30:03.149 current generation=26
2025-06-09 11:30:03.651 0x1a
2025-06-09 11:30:04.528 initial joint2 2449949
2025-06-09 11:30:04.528 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-09 11:30:04.528 robot WritePID
2025-06-09 11:30:04.850 initial joint1 -160239
2025-06-09 11:30:04.917 initial joint2 2449949
2025-06-09 11:30:04.964 initial joint3 -219820
2025-06-09 11:30:05.014 initial joint4 -25369363
2025-06-09 11:30:05.031 initial joint1 -160239
2025-06-09 11:30:05.080 initial joint2 2449951
2025-06-09 11:30:05.134 initial joint3 -219823
2025-06-09 11:30:05.178 initial joint4 -25369364
2025-06-09 11:30:05.199 initial joint1 -160239
2025-06-09 11:30:05.250 initial joint2 2449951
2025-06-09 11:30:05.298 initial joint3 -219824
2025-06-09 11:30:05.351 initial joint4 -25369365
2025-06-09 11:30:07.412 initial_thread initialized
2025-06-09 11:30:07.412 servo enable
2025-06-09 11:30:07.412 brake open
2025-06-09 11:30:07.412 set_brake_state 0 1
2025-06-09 11:30:07.614 robot initialized
2025-06-09 11:30:08.225 get_scara_param -11.002700 84.112396 -75.471603 -1005.720886
2025-06-09 11:30:08.225 get_scara_real_coor -11.002800 84.112396 -75.470901 -1005.721008
2025-06-09 11:30:08.225 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-09 11:30:08.225 position -160238.437500 2449951.000000 -219826.984375 -25369364.000000 -526431.500000 2764193.250000 -219810.953125 -24916166.000000
2025-06-09 11:30:08.225 speed 25144.480469 10788.651367 5.503893 18671.183594
2025-06-09 11:30:08.225 set_first_position_after_initial
2025-06-09 11:30:08.225 movej_old start_pos: -11.002701 84.112396 -75.471603 -1005.720886 end_pos: -11.002701 84.112297 -75.471603 -1005.720886 org_sp 10.000000 end_sp 0.793652
2025-06-09 11:30:08.511 J3 Belt Meilage=40.888344km
2025-06-09 11:30:10.571 30 30 30 30
2025-06-09 11:30:10.571 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:30:10.572 goal_angle -60.720737 27.061800
2025-06-09 11:30:10.572 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:30:10.572 z1 -75.471603 z2 -75.466103
2025-06-09 11:30:10.572 angle1_1 -11.002701 angle2_1 84.112297 z1 -75.471603 r1 -1005.720886
2025-06-09 11:30:10.572 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
2025-06-09 11:30:10.572 speed 100.000000
2025-06-09 11:30:10.573 tcp_distance 498.318573
2025-06-09 11:30:10.573 new_end_speed 100.000000 j1_acc_t 2.491593 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.825035
2025-06-09 11:30:10.573 new_end_speed 100.000000 j2_acc_t 2.491593 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.043812
2025-06-09 11:30:10.573 new_end_speed 100.000000 j3_acc_t 2.491593 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.002415
2025-06-09 11:30:10.573 new_end_speed 100.000000 j4_acc_t 2.491593 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000054
2025-06-09 11:30:10.573 end_speed 100.000000
2025-06-09 11:30:10.573 trail_number4.983186
2025-06-09 11:30:10.573 tcp_distance 498.318573
2025-06-09 11:30:10.573 angle1_1 = -11.002701 angle2_1 = 84.112297 z1 = -75.471603 r1 = -1005.720886 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
2025-06-09 11:30:15.757 30 30 30 30
2025-06-09 11:30:15.757 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:30:15.757 goal_angle -67.226128 86.401024
2025-06-09 11:30:15.757 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:30:15.757 z1 -75.466103 z2 -75.466103
2025-06-09 11:30:15.757 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
2025-06-09 11:30:15.757 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
2025-06-09 11:30:15.757 speed 100.000000
2025-06-09 11:30:15.757 tcp_distance 171.494293
2025-06-09 11:30:15.757 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
2025-06-09 11:30:15.757 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
2025-06-09 11:30:15.757 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
2025-06-09 11:30:15.757 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
2025-06-09 11:30:15.757 end_speed 100.000000
2025-06-09 11:30:15.757 trail_number1.714943
2025-06-09 11:30:15.757 tcp_distance 171.494293
2025-06-09 11:30:15.757 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 11:30:17.366 30 30 30 30
2025-06-09 11:30:17.366 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:30:17.366 goal_angle -44.911705 98.661697
2025-06-09 11:30:17.366 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:30:17.366 z1 -75.466103 z2 -75.466103
2025-06-09 11:30:17.366 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
2025-06-09 11:30:17.366 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
2025-06-09 11:30:17.366 speed 100.000000
2025-06-09 11:30:17.366 tcp_distance 144.069748
2025-06-09 11:30:17.366 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
2025-06-09 11:30:17.366 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
2025-06-09 11:30:17.366 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
2025-06-09 11:30:17.366 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
2025-06-09 11:30:17.366 end_speed 100.000000
2025-06-09 11:30:17.366 trail_number1.440697
2025-06-09 11:30:17.366 tcp_distance 144.069748
2025-06-09 11:30:17.524 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 11:30:18.995 30 30 30 30
2025-06-09 11:30:18.996 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:30:18.996 goal_angle -11.002804 84.112190
2025-06-09 11:30:18.996 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:30:18.996 z1 -75.466103 z2 -75.466103
2025-06-09 11:30:18.996 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
2025-06-09 11:30:18.996 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
2025-06-09 11:30:18.996 speed 100.000000
2025-06-09 11:30:18.996 tcp_distance 144.322098
2025-06-09 11:30:18.996 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
2025-06-09 11:30:18.996 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
2025-06-09 11:30:18.996 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
2025-06-09 11:30:18.996 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
2025-06-09 11:30:18.996 end_speed 100.000000
2025-06-09 11:30:18.996 trail_number1.443221
2025-06-09 11:30:18.996 tcp_distance 144.322098
2025-06-09 11:30:19.012 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 11:30:20.541 30 30 30 30
2025-06-09 11:30:20.541 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
2025-06-09 11:30:20.541 goal_angle -87.199585 152.604431
2025-06-09 11:30:20.541 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
2025-06-09 11:30:20.541 z1 -75.466103 z2 -4.457100
2025-06-09 11:30:20.541 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
2025-06-09 11:30:20.541 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
2025-06-09 11:30:20.541 speed 100.000000
2025-06-09 11:30:20.541 tcp_distance 288.737366
2025-06-09 11:30:20.543 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
2025-06-09 11:30:20.543 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
2025-06-09 11:30:20.543 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
2025-06-09 11:30:20.543 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
2025-06-09 11:30:20.543 end_speed 100.000000
2025-06-09 11:30:20.543 trail_number2.887374
2025-06-09 11:30:20.543 tcp_distance 288.737366
2025-06-09 11:30:20.543 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 11:49:42.543 SDK_VERSION_V2.0.0.29_Release
2025-06-09 11:49:42.544 robot connected
2025-06-09 11:49:42.544 26
2025-06-09 11:49:42.544 current generation=26
2025-06-09 11:49:43.045 0x1a
2025-06-09 11:49:43.847 initial joint2 4444930
2025-06-09 11:49:43.847 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-09 11:49:43.847 robot WritePID
2025-06-09 11:49:44.164 initial joint1 -1269934
2025-06-09 11:49:44.219 initial joint2 4444932
2025-06-09 11:49:44.267 initial joint3 -12991
2025-06-09 11:49:44.324 initial joint4 -25056187
2025-06-09 11:49:44.349 initial joint1 -1269934
2025-06-09 11:49:44.406 initial joint2 4444932
2025-06-09 11:49:44.466 initial joint3 -12991
2025-06-09 11:49:44.522 initial joint4 -25056188
2025-06-09 11:49:44.534 initial joint1 -1269934
2025-06-09 11:49:44.575 initial joint2 4444933
2025-06-09 11:49:44.616 initial joint3 -12991
2025-06-09 11:49:44.658 initial joint4 -25056189
2025-06-09 11:49:46.807 initial_thread initialized
2025-06-09 11:49:46.807 servo enable
2025-06-09 11:49:46.807 brake open
2025-06-09 11:49:46.807 set_brake_state 0 1
2025-06-09 11:49:47.019 robot initialized
2025-06-09 11:49:47.572 get_scara_param -87.199402 152.604706 -4.460400 -1027.919922
2025-06-09 11:49:47.572 get_scara_real_coor -87.199402 152.604706 -4.460100 -1027.919922
2025-06-09 11:49:47.572 set_first_position_after_initial
2025-06-09 11:49:47.572 movej_old start_pos: -87.199402 152.604721 -4.460400 -1027.919922 end_pos: -87.199402 152.604721 -4.460400 -1027.919922 org_sp 10.000000 end_sp 10.000000
2025-06-09 11:49:47.889 J3 Belt Meilage=40.888519km
2025-06-09 11:49:52.254 30 30 30 30
2025-06-09 11:49:52.254 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:49:52.254 goal_angle -60.720737 27.061800
2025-06-09 11:49:52.254 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:49:52.254 z1 -4.460400 z2 -75.466103
2025-06-09 11:49:52.256 angle1_1 -87.199402 angle2_1 152.604721 z1 -4.460400 r1 -1027.919922
2025-06-09 11:49:52.256 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
2025-06-09 11:49:52.256 speed 100.000000
2025-06-09 11:49:52.256 tcp_distance 361.527069
2025-06-09 11:49:52.256 new_end_speed 100.000000 j1_acc_t 1.807635 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.021500
2025-06-09 11:49:52.256 new_end_speed 100.000000 j2_acc_t 1.807635 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.962517
2025-06-09 11:49:52.256 new_end_speed 100.000000 j3_acc_t 1.807635 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 42.963566
2025-06-09 11:49:52.256 new_end_speed 100.000000 j4_acc_t 1.807635 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.431947
2025-06-09 11:49:52.256 end_speed 100.000000
2025-06-09 11:49:52.257 trail_number3.615271
2025-06-09 11:49:52.257 tcp_distance 361.527069
2025-06-09 11:49:52.258 angle1_1 = -87.199402 angle2_1 = 152.604721 z1 = -4.460400 r1 = -1027.919922 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
2025-06-09 11:49:55.806 30 30 30 30
2025-06-09 11:49:55.806 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:49:55.806 goal_angle -67.226128 86.401024
2025-06-09 11:49:55.806 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:49:55.806 z1 -75.466103 z2 -75.466103
2025-06-09 11:49:55.806 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
2025-06-09 11:49:55.806 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
2025-06-09 11:49:55.806 speed 100.000000
2025-06-09 11:49:55.806 tcp_distance 171.494293
2025-06-09 11:49:55.806 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
2025-06-09 11:49:55.806 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
2025-06-09 11:49:55.806 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
2025-06-09 11:49:55.806 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
2025-06-09 11:49:55.811 end_speed 100.000000
2025-06-09 11:49:55.811 trail_number1.714943
2025-06-09 11:49:55.811 tcp_distance 171.494293
2025-06-09 11:49:55.911 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 11:49:58.725 30 30 30 30
2025-06-09 11:49:58.725 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:49:58.725 goal_angle -44.911705 98.661697
2025-06-09 11:49:58.725 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:49:58.725 z1 -75.466103 z2 -75.466103
2025-06-09 11:49:58.726 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
2025-06-09 11:49:58.726 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
2025-06-09 11:49:58.726 speed 100.000000
2025-06-09 11:49:58.726 tcp_distance 144.069748
2025-06-09 11:49:58.726 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
2025-06-09 11:49:58.726 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
2025-06-09 11:49:58.726 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
2025-06-09 11:49:58.727 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
2025-06-09 11:49:58.727 end_speed 100.000000
2025-06-09 11:49:58.727 trail_number1.440697
2025-06-09 11:49:58.727 tcp_distance 144.069748
2025-06-09 11:49:58.728 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 11:50:00.432 30 30 30 30
2025-06-09 11:50:00.432 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
2025-06-09 11:50:00.433 goal_angle -11.002804 84.112190
2025-06-09 11:50:00.433 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
2025-06-09 11:50:00.433 z1 -75.466103 z2 -75.466103
2025-06-09 11:50:00.433 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
2025-06-09 11:50:00.433 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
2025-06-09 11:50:00.433 speed 100.000000
2025-06-09 11:50:00.433 tcp_distance 144.322098
2025-06-09 11:50:00.433 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
2025-06-09 11:50:00.433 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
2025-06-09 11:50:00.433 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
2025-06-09 11:50:00.433 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
2025-06-09 11:50:00.433 end_speed 100.000000
2025-06-09 11:50:00.435 trail_number1.443221
2025-06-09 11:50:00.435 tcp_distance 144.322098
2025-06-09 11:50:00.435 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 11:50:02.233 30 30 30 30
2025-06-09 11:50:02.233 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
2025-06-09 11:50:02.233 goal_angle -87.199585 152.604431
2025-06-09 11:50:02.233 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
2025-06-09 11:50:02.233 z1 -75.466103 z2 -4.457100
2025-06-09 11:50:02.233 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
2025-06-09 11:50:02.233 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
2025-06-09 11:50:02.233 speed 100.000000
2025-06-09 11:50:02.233 tcp_distance 288.737366
2025-06-09 11:50:02.233 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
2025-06-09 11:50:02.236 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
2025-06-09 11:50:02.236 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
2025-06-09 11:50:02.236 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
2025-06-09 11:50:02.236 end_speed 100.000000
2025-06-09 11:50:02.236 trail_number2.887374
2025-06-09 11:50:02.236 tcp_distance 288.737366
2025-06-09 11:50:02.236 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

6
HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt
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@@ -1,6 +0,0 @@
# 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

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HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.AssemblyReference.cache
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2
HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache
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@@ -1 +1 @@
0d727208eca3c47038b3513931488e27610437c08abe9796c9d6e14b694471f2
601c0e3a021487c440b2658da2c2fff70bd90fc5e9e4b9164ca2c498d1fcad6a

2
HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt
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@@ -35,3 +35,5 @@ C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDe
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.Up2Date
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.exe
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.pdb
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\MvCameraControl.Net.dll
C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\MvCameraControl.Net.xml

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HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache
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0
HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.Up2Date Normal file
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HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferencesInput.cache
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HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe
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HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb
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README.md
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@@ -0,0 +1 @@
Cam_pos_path.txt位置：HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug