508 lines
18 KiB
C#
508 lines
18 KiB
C#
using System;
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using System.Drawing;
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using System.Threading;
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using System.Windows.Forms;
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using ControlBeanExDll;
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using TcpserverExDll;
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namespace HitBotCSharpDemo
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{
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public partial class ShowForm : Form
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{
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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
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bool moveFlag;//开始结束寸动标志
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bool isInit = false;
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Button btn;//声明按钮对象。
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Label lbl;
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int offset = 1;//寸动距离
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int offset_jog = 2;//连续移动单次距离
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static int io_Count = 6;//IO数量
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int[] io_In = new int[io_Count];
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int[] io_Out = new int[io_Count];
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Label[] lbl_Current_Input;//IO显示控件数组
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Label[] lbl_Current_Output;
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bool output_State_Flag0 = true;
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bool output_State_Flag1 = true;
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bool output_State_Flag2 = true;
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bool output_State_Flag3 = true;
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bool output_State_Flag4 = true;
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bool output_State_Flag5 = true;
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float[] pos0;//点位1
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int posHand0;
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float[] pos1;//点位2
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int posHand1;
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float[] pos2;//点位3
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int posHand2;
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Thread thread_PosMove;
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private ControlBeanEx robot;
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public ShowForm()
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{
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InitializeComponent();
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TcpserverEx.net_port_initial();
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robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号
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}
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private void ShowForm_Load(object sender, EventArgs e)
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{
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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
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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
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}
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private void cob_Robot_ID_Click(object sender, EventArgs e)
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{
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cob_Robot_ID.Items.Clear();
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for (int i = 0; i < 255; i++)
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{
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robot = TcpserverEx.get_robot(i);//替换为自己的机器的id号
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if (robot.is_connected())
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{
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cob_Robot_ID.Items.Add(i.ToString());
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}
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}
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}
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private void btn_Init_Click(object sender, EventArgs e)
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{
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rit_Coord.Clear();
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if (robot == null) return;
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robot = TcpserverEx.get_robot(int.Parse(cob_Robot_ID.Text));
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robot.check_joint(4, false);
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if (robot.is_connected())
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{
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int ret = robot.initial(1, 240); //修改自己机器的型号，参数具体意义参考sdk说明文档
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if (ret == 1)
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{
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robot.unlock_position();
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isInit = true;
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MessageBox.Show("robot" + "初始化完成");
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}
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else
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{
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MessageBox.Show("robot" + "初始化失败，返回值 = " + ret.ToString());
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}
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}
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else
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{
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MessageBox.Show("robot" + "未连接");
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}
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}
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private void btn_Move_Click(object sender, EventArgs e) //点击按钮，寸动事件。
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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#region 按钮移动事件
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if (chb_Inching.Checked == true)//寸动
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{
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robot.get_scara_param();
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int hand = robot.get_lr();
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float speed = 2;
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robot.new_set_acc(30, 30, 30, 30);
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#region 轴动
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if (btn == btn_XP)//X正向移动
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{
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robot.new_movej_xyz_lr(robot.x + offset, robot.y, robot.z, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
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}
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else if (btn == btn_XN)//X负向移动
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{
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robot.new_movej_xyz_lr(robot.x - offset, robot.y, robot.z, robot.rotation, speed, 0, hand);
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}
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if (btn == btn_YP)//Y正向移动
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{
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robot.new_movej_xyz_lr(robot.x, robot.y + offset, robot.z, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
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}
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else if (btn == btn_YN)//Y负向移动
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{
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robot.new_movej_xyz_lr(robot.x, robot.y - offset, robot.z, robot.rotation, speed, 0, hand);
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}
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if (btn == btn_ZP)//Z正向移动
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{
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robot.new_movej_xyz_lr(robot.x, robot.y, robot.z + offset, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
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}
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else if (btn == btn_ZN)//Z负向移动
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{
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robot.new_movej_xyz_lr(robot.x, robot.y, robot.z - offset, robot.rotation, speed, 0, hand);
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}
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if (btn == btn_RP)//R正向旋转
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{
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robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation + offset, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
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}
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else if (btn == btn_RN)//R负向旋转
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{
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robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation - offset, speed, 0, hand);
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}
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#endregion
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}
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else
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{
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}
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#endregion
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}
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public void jog_Move()//连续移动方法
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{
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moveFlag = true;
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while (moveFlag && chb_Inching.Checked == false && btn != null)
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{
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//robot.new_set_acc(100, 100, 100, 100);
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if (btn == btn_XP)//X正向移动
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{
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robot.jog_move2(offset_jog, 0, 0, 0, 1);
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//robot.jog_move2(robot.x - 1, robot.y, robot.z, robot.rotation,1);
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//type: 1：是以xyz坐标系为准移动固定距离。 2是以关节轴为基准移动固定距离
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}
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else if (btn == btn_XN)//X负向移动
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{
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robot.jog_move2(-offset_jog, 0, 0, 0, 1);
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}
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if (btn == btn_YP)//Y正向移动
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{
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robot.jog_move2(0, offset_jog, 0, 0, 1);
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}
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else if (btn == btn_YN)//Y负向移动
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{
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robot.jog_move2(0, -offset_jog, 0, 0, 1);
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}
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if (btn == btn_ZP)//Z正向移动
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{
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robot.jog_move2(0, 0, offset_jog, 0, 1);
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}
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else if (btn == btn_ZN)//Z负向移动
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{
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robot.jog_move2(0, 0, -offset_jog, 0, 1);
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}
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if (btn == btn_RP)//R正向旋转
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{
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robot.jog_move2(0, 0, 0, offset_jog, 1);
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}
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else if (btn == btn_RN)//R负向旋转
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{
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robot.jog_move2(0, 0, 0, offset_jog, 1);
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}
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Thread.Sleep(200);
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}
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robot.wait_stop();
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}
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private void btn_gainJointState_Click(object sender, EventArgs e)//获取关节状态
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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int jointNumber = int.Parse(cob_Joint_Number.SelectedItem.ToString());
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int ret = robot.get_joint_state(jointNumber);
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switch (ret)
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{
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case 1:
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rit_showJointState.Clear();
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rit_showJointState.SelectedText = "关节" + jointNumber + "正常";
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break;
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default:
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rit_showJointState.Clear();
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rit_showJointState.SelectedText = "关节" + jointNumber + "异常！异常代码：" + ret + ".（详情请查看API文档）"; //可具体
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break;
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}
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}
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private void btn_Jog_MouseDown(object sender, MouseEventArgs e)
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{
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btn = (Button)sender;
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if (btn == null)
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{
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return;
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}
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thread_Jog_Move = new Thread(jog_Move);
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thread_Jog_Move.IsBackground = true;
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thread_Jog_Move.Start();
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}
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private void tim_IO_Refresh_Tick(object sender, EventArgs e)//刷新IO和坐标定时器
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{
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robot.get_scara_param();
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if (isInit)
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{
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rit_Coord.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
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}
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for (int i = 0; i < io_Count; i++)
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{
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io_In[i] = robot.get_digital_in(i);
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io_Out[i] = robot.get_digital_out(i);
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}
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for (int i = 0; i < io_Count; i++)//输入
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{
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int ret_Input = io_In[i];
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Label lbl_Current_IO = lbl_Current_Input[i];
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switch (ret_Input)//• -1：io_number 参数错误 • 0：io 输入点没有被触发 • 1：io 输入点被触发 • 3：未初始化
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{
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case -1:
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if (lbl_Current_Input[i].BackColor != Color.Gray)
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lbl_Current_Input[i].BackColor = Color.Gray;
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break;
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case 0:
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if (lbl_Current_Input[i].BackColor != Color.Green)
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lbl_Current_Input[i].BackColor = Color.Green;
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break;
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case 1:
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if (lbl_Current_Input[i].BackColor != Color.Red)
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lbl_Current_Input[i].BackColor = Color.Red;
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break;
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case 3:
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if (lbl_Current_Input[i].BackColor != Color.Gray)
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lbl_Current_Input[i].BackColor = Color.Gray;
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break;
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}
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}
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for (int i = 0; i < io_Count; i++)//输出
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{
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int ret_Output = io_Out[i];
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Label lbl_Current_IO = lbl_Current_Output[i];
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switch (ret_Output)//• -1：io_number 参数错误 • 0：io 输入点没有被触发 • 1：io 输入点被触发 • 3：未初始化
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{
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case -1:
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if (lbl_Current_Output[i].BackColor != Color.Gray)
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lbl_Current_Output[i].BackColor = Color.Gray;
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break;
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case 0:
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if (lbl_Current_Output[i].BackColor != Color.Green)
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lbl_Current_Output[i].BackColor = Color.Green;
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break;
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case 1:
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if (lbl_Current_Output[i].BackColor != Color.Red)
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lbl_Current_Output[i].BackColor = Color.Red;
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break;
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case 3:
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if (lbl_Current_Output[i].BackColor != Color.Gray)
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lbl_Current_Output[i].BackColor = Color.Gray;
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break;
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}
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}
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}
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private void lbl_Output_Click(object sender, EventArgs e)//设置输出事件
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{
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#region 判断输出编号
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int output_Num = 0;
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lbl = (Label)sender;
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if (lbl == lbl_OutputState_0)
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{
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output_Num = 0;
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robot.set_digital_out(output_Num, output_State_Flag0);
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output_State_Flag0 = !output_State_Flag0;
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}
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else if (lbl == lbl_OutputState_1)
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{
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output_Num = 1;
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robot.set_digital_out(output_Num, output_State_Flag1);
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output_State_Flag1 = !output_State_Flag1;
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}
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else if (lbl == lbl_OutputState_2)
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{
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output_Num = 2;
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robot.set_digital_out(output_Num, output_State_Flag2);
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output_State_Flag2 = !output_State_Flag2;
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}
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else if (lbl == lbl_OutputState_3)
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{
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output_Num = 3;
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robot.set_digital_out(output_Num, output_State_Flag3);
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output_State_Flag3 = !output_State_Flag3;
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}
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else if (lbl == lbl_OutputState_4)
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{
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output_Num = 4;
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robot.set_digital_out(output_Num, output_State_Flag4);
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output_State_Flag4 = !output_State_Flag4;
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}
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else if (lbl == lbl_OutputState_5)
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{
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output_Num = 5;
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robot.set_digital_out(output_Num, output_State_Flag5);
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output_State_Flag5 = !output_State_Flag5;
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}
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#endregion
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}
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private void btn_MouseUp(object sender, MouseEventArgs e)//停止连续移动
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{
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if (robot != null&&!chb_Inching.Checked)
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{
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robot.new_stop_move();
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}
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btn = null;
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moveFlag = false;
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}
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private void btn_Position0_Click(object sender, EventArgs e)
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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rit_Position0.Clear();
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rit_Position0.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
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pos0 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
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posHand0 = robot.get_lr()/* == 1 ? "R" : "L"*/;
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}
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private void btn_Position1_Click(object sender, EventArgs e)
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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rit_Position1.Clear();
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rit_Position1.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
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pos1 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
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posHand1 = robot.get_lr()/* == 1 ? "R" : "L"*/;
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}
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private void btn_Position2_Click(object sender, EventArgs e)
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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rit_Position2.Clear();
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rit_Position2.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
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pos2 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
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posHand2 = robot.get_lr() /*== 1 ? "R" : "L"*/;
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}
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private void btn_Start_Click(object sender, EventArgs e)
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{
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btn_Pause.Enabled = true;
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btn_Resume.Enabled = true;
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if (pos0==null|| pos1 == null|| pos2 == null)
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{
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MessageBox.Show("请先设置3个点位！");
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return;
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}
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thread_PosMove = new Thread(PosMove);
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thread_PosMove.IsBackground = false;
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thread_PosMove.Start();
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}
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private static object locker_PosMove = new object();
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public void PosMove()
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{
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lock (locker_PosMove)
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{
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while (true)
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{
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robot.resume_move();
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robot.get_scara_param();
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robot.new_movej_xyz_lr(pos0[0], pos0[1], pos0[2], pos0[3], 50, 0, posHand0);
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robot.wait_stop();
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robot.new_movej_xyz_lr(pos1[0], pos1[1], pos1[2], pos1[3], 50, 0, posHand1);
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robot.wait_stop();
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robot.new_movej_xyz_lr(pos2[0], pos2[1], pos2[2], pos2[3], 50, 0, posHand2);
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robot.wait_stop();
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}
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}
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}
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private void btn_Pause_Click(object sender, EventArgs e)
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{
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btn_Stop.Enabled = false;
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robot.pause_move();
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}
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private void btn_Resume_Click(object sender, EventArgs e)
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{
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btn_Stop.Enabled = true;
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robot.resume_move();
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}
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private void btn_Stop_Click(object sender, EventArgs e)
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{
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btn_Pause.Enabled = false;
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btn_Resume.Enabled = false;
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robot.new_stop_move();
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thread_PosMove.Abort();
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}
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private void btn_Joint_Click(object sender, EventArgs e)
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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#region 关节回零
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btn = (Button)sender;
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if (btn == null)
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{
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return;
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}
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if (btn == btn_joint1)
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{
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robot.joint_home(1);//使轴回到零位
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}
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else if (btn == btn_joint2)
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{
|
||
robot.joint_home(2);
|
||
}
|
||
else if (btn == btn_joint3)
|
||
{
|
||
robot.joint_home(3);
|
||
}
|
||
else if (btn == btn_joint4)
|
||
{
|
||
|
||
robot.joint_home(4);
|
||
}
|
||
#endregion
|
||
}
|
||
|
||
private void rit_Coord_TextChanged(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void cob_Robot_ID_SelectedIndexChanged(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void tap_Move_Click(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void button1_Click(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void button3_Click(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void button2_Click(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void button4_Click(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
}
|
||
}
|