更新夹爪

This commit is contained in:
13763374093 2025-03-06 22:26:10 +08:00
parent 8e1699443e
commit 00652666c8
24 changed files with 86317 additions and 165 deletions

View File

@ -29,6 +29,8 @@ namespace BigProject
public ArmConfig ArmConfig { get; set; }
//机械臂控制
public ArmContrl ArmContrl { get; set; }
//夹爪控制
public ArmClaw ArmClaw { get; set; }
//轴移动记录
public ObservableCollection<JointRecordModel> JointRecords = new ObservableCollection<JointRecordModel>();
public Core()
@ -48,6 +50,7 @@ namespace BigProject
}
ArmConfig = new ArmConfig() { D_BASE = 0, L_BASE = 161.5, L_ARM = 170, D_ELBOW = 70, L_FOREARM = 117, L_WRIST = 97 };
ArmContrl = new ArmContrl(ArmConfig, ArmSerial);
ArmClaw = new ArmClaw(ArmSerial);
return true;
}

View File

@ -1,23 +1,87 @@
using System;
using BigProject.Logger;
using BigProject.Serials;
using System;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace BigProject.Devices.Arm
{
public class ArmClaw:BaseDevice
{
//开启夹爪
public void Open()
{
App.Core.ArmSerial.CtrClaw(40,140,40);
//角度转换成脉冲 3200 为 360°
public const double DEG_TO_PULSE = 8.888888889;
public const double CLAW_FINGER_LENTH = 45;
public const double CLAW_FINGER_WIDTH = 15;
public const double CLAW_FINGER_ANGLE = 70.53;
private ArmSerial _armClawSerial;
//更新信息回调
public static event Action<double, double, double> UpdateClawMsgEvent;
public ArmClaw(ArmSerial armClawSerial) {
_armClawSerial = armClawSerial;
}
//关闭夹爪
public void Close()
//夹爪回零
public void Home()
{
App.Core.ArmSerial.CtrClaw(80, 110, 80);
_armClawSerial.EditZeroParams(addr: 7, direction: 1);
_armClawSerial.Zero(7);
}
//夹爪停止
public void Stop()
{
byte[] send = new byte[4] { 0x07, 0x0E, 0x52, 0x6B };
_armClawSerial.SendMsgForResult(send, out byte[] resMsg);
}
//设置夹爪角度
public void SetAngle(double Angle,double Speed = 5000,int Reduction = 9)
{
_armClawSerial.LocationControl(7, 0, (int)Speed, (int)0, (int)(Angle* DEG_TO_PULSE* Reduction), RelativeOrAbsolute.Absolute,isMultiMachine:0);
}
public void ReadAngle()
{
//读取状态信息 07 43 7A 6B
byte[] send = new byte[4] { 0x07, 0x43, 0x7A, 0x6B };
_armClawSerial.SendMsgForResult(send, out byte[] resMsg, 31);
if (resMsg[1] == 0x00 && resMsg[2] == 0xEE)
{
return;
}
if (resMsg[0] != 0x07)
{
return;
}
//实时角度
var temp = (resMsg[19] * 256 * 256 * 256 + resMsg[20] * 256 * 256 + resMsg[21] * 256 + resMsg[22]) * 360 / 65536.0 / 9 * 2;
var Angle = Math.Round(temp, 2);
if (Angle <= -0.8 || Angle > 180)
{
return;
}
//根据三角函数计算末端长度
var Length = Math.Cos((180 - (Angle / 2) - CLAW_FINGER_ANGLE) / 180 * Math.PI) * CLAW_FINGER_LENTH + CLAW_FINGER_WIDTH;
Length = Math.Round(Length * 2, 2);
//根据实时相电流计算力矩大小
var Power = (resMsg[6] * 256 + resMsg[7]) * 1.0;
Power = Math.Round(Power, 2);
if (Power == 0)
{
return;
}
//回调函数,让数值显示出来
UpdateClawMsgEvent?.Invoke(Angle, Length, Power);
//Log.Info($"Angle:{Angle}--Length:{Length}--Power:{Power}");
}
}
}

View File

@ -27,7 +27,7 @@ namespace BigProject.Devices.Arm
public Joint6D_t lastJoints;
public Joint6D_t currentJoints;
public Pose6D_t currentPose6D;
public ArmSerial serialControl;
private ArmSerial serialControl;
public event Action<double, double, double, double, double, double> UpdateJointAngle;
public ArmContrl(ArmConfig armConfig,ArmSerial armSerial)

View File

@ -18,7 +18,7 @@
<TextBlock FontSize="60" Grid.Column="0" Foreground="Red" Panel.ZIndex="3" x:Name="ResultTextInPic" ></TextBlock>
</Grid>
</Grid>
<Grid Grid.Column="1" rubyer:GridHelper.RowDefinitions="300,*">
<Grid Grid.Column="1" rubyer:GridHelper.RowDefinitions="300,300,*">
<GroupBox Header="点位循环记录">
<DataGrid x:Name="dg_JointRecord" rubyer:ControlHelper.FocusedForegroundBrush="{StaticResource Accent}" AutoGenerateColumns="False" BorderThickness="1" CanUserAddRows="False" GridLinesVisibility="All" IsReadOnly="True" SelectionMode="Single">
<DataGrid.Columns>
@ -39,6 +39,57 @@
</DataGrid.Columns>
</DataGrid>
</GroupBox>
<GroupBox Header="夹爪控制" Grid.Row="1" x:Name="gb_ClawControl" IsEnabled="False">
<Grid rubyer:GridHelper.RowDefinitions="40,40,40,40,*">
<Grid rubyer:GridHelper.ColumnDefinitions="*,*,*,*" >
<Grid Grid.Column="0" Margin="2">
<Button x:Name="bt_ClawHome" Click="bt_ClawHome_Click">夹爪回零</Button>
</Grid>
<Grid Grid.Column="1" Margin="2">
<Button x:Name="bt_ClawStop" Click="bt_ClawStop_Click">夹爪关闭堵转</Button>
</Grid>
<Grid Grid.Column="2" Margin="2">
<Button x:Name="bt_ClawLoopStart" Click="bt_ClawLoopStart_Click">开始监视信息</Button>
</Grid>
<Grid Grid.Column="3" Margin="2">
<Button x:Name="bt_ClawLoopEnd" IsEnabled="False" Click="bt_ClawLoopEnd_Click">停止监视信息</Button>
</Grid>
</Grid>
<Grid Grid.Row="1" rubyer:GridHelper.ColumnDefinitions="60,*,50,60,*,50">
<Grid Grid.Column="0" Margin="2">
<TextBlock>末端夹角:</TextBlock>
</Grid>
<Grid Grid.Column="1" Margin="2">
<Slider Margin="0 12 0 0" Value="0" x:Name="pg_ClawAngle" Minimum="0" Maximum="90" ValueChanged="pg_ClawAngle_ValueChanged" MouseUp="pg_ClawAngle_MouseUp"></Slider>
</Grid>
<Grid Grid.Column="2" Margin="2">
<TextBlock x:Name="tb_ClawAngle">0°</TextBlock>
</Grid>
<Grid Grid.Column="3" Margin="2">
<TextBlock>末端长度:</TextBlock>
</Grid>
<Grid Grid.Column="4" Margin="2">
<ProgressBar Margin="0 16 0 0" Value="0" x:Name="pg_ClawLength"></ProgressBar>
</Grid>
<Grid Grid.Column="5" Margin="2">
<TextBlock x:Name="tb_ClawLength">50mm</TextBlock>
</Grid>
</Grid>
<Grid Grid.Row="2" rubyer:GridHelper.ColumnDefinitions="60,*,50,60,*,50">
<Grid Grid.Column="0" Margin="2">
<TextBlock>末端受力:</TextBlock>
</Grid>
<Grid Grid.Column="1" Margin="2">
<ProgressBar Margin="0 16 0 0" Value="0" x:Name="pg_ClawPower" Minimum="0" Maximum="2000"></ProgressBar>
</Grid>
<Grid Grid.Column="2" Margin="2">
<TextBlock x:Name="tb_ClawPower" >0</TextBlock>
</Grid>
</Grid>
</Grid>
</GroupBox>
</Grid>
<Grid Grid.Column="2" rubyer:GridHelper.RowDefinitions="100,610,*" Margin="5,2,5,5">
@ -53,8 +104,8 @@
</Grid>
</Grid>
<Grid Grid.Row="1" rubyer:GridHelper.ColumnDefinitions="*,*">
<Button x:Name="bt_Link" Margin="2">手动连接</Button>
<Button x:Name="bt_LinkAuto" Margin="2" Grid.Column="1">自动连接</Button>
<Button x:Name="bt_Link" Margin="2" Click="bt_Link_Click">手动连接</Button>
<Button x:Name="bt_LinkAuto" Margin="2" Grid.Column="1" Click="bt_LinkAuto_Click">自动连接</Button>
</Grid>
</Grid>
</GroupBox>
@ -160,26 +211,26 @@
</Grid>
<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="13">
<Grid Grid.Column="0" Margin="2">
<Button x:Name="bt_Home">回零</Button>
<Button x:Name="bt_Home" Click="bt_Home_Click">回零</Button>
</Grid>
<Grid Grid.Column="1" Margin="2">
<Button x:Name="bt_StopNow">立即停止</Button>
<Button x:Name="bt_StopNow" Click="bt_StopNow_Click">立即停止</Button>
</Grid>
</Grid>
<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="14">
<Grid Grid.Column="0" Margin="2">
<Button x:Name="bt_FK">正解计算</Button>
<Button x:Name="bt_FK" Height="26" VerticalAlignment="Top" Click="bt_FK_Click">正解计算</Button>
</Grid>
<Grid Grid.Column="1" Margin="2">
<Button x:Name="bt_IK">逆解计算</Button>
<Button x:Name="bt_IK" Click="bt_IK_Click">逆解计算</Button>
</Grid>
</Grid>
<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="15">
<Grid Grid.Column="0" Margin="2">
<Button x:Name="bt_MoveJoint">运动机械臂</Button>
<Button x:Name="bt_MoveJoint" Click="bt_MoveJoint_Click">运动机械臂</Button>
</Grid>
<Grid Grid.Column="1" Margin="2">
<Button x:Name="bt_GetCurrentAngle">获取当前位置</Button>
<Button x:Name="bt_GetCurrentAngle" Click="bt_GetCurrentAngle_Click">获取当前位置</Button>
</Grid>
</Grid>
<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="16">

View File

@ -62,24 +62,9 @@ namespace BigProject
//添加日志输出
Log.MessageEvent += Log_MessageEvent;
//手动连接
bt_Link.Click += Bt_Link_Click;
//自动连接
bt_LinkAuto.Click += Bt_LinkAuto_Click;
//添加夹爪信息回调
ArmClaw.UpdateClawMsgEvent+= UpdateClawMsg;
//回零
bt_Home.Click += Bt_Home_Click;
//立即停止
bt_StopNow.Click += Bt_StopNow_Click;
//正解计算
bt_FK.Click += Bt_FK_Click;
//逆解计算
bt_IK.Click += Bt_IK_Click;
//让机械臂运动
bt_MoveJoint.Click += Bt_MoveJoint_Click;
//获取当前位置
bt_GetCurrentAngle.Click += Bt_GetCurrentAngle_Click;
//赋值当前角度位置
//MainWindow_UpdateJointAngle();
@ -92,6 +77,7 @@ namespace BigProject
}
#region
//加载记录列表
private void LoadJointRecords()
{
@ -221,6 +207,7 @@ namespace BigProject
bt_MoveLoop.IsEnabled = State;
bt_MoveLoopStop.IsEnabled = State;
bt_DeleteRecord.IsEnabled = State;
});
}
//加载串口列表
@ -250,7 +237,7 @@ namespace BigProject
}
//自动连接
private void Bt_LinkAuto_Click(object sender, RoutedEventArgs e)
private void bt_LinkAuto_Click(object sender, RoutedEventArgs e)
{
var list = LoadComList();
//连接
@ -265,6 +252,8 @@ namespace BigProject
var result = App.Core.InitArm(item);
if (result)
{
//查看是否存在机械臂
var armConnected = false;
var res =App.Core.ArmSerial.SendMsgForResult(new byte[3] { 0x01, 0x33, 0x6b },out byte[] resMsg);
Thread.Sleep(500);
if (res&&resMsg[0] > 0)
@ -276,20 +265,30 @@ namespace BigProject
cb_ComList.IsEnabled = false;
bt_Link.Content = "断开连接";
SetButtomState(true);
armConnected = true;
//读取位置信息并赋值
MainWindow_UpdateJointAngle();
});
}
else
//夹爪连接
var clawConnected = false;
var resClaw = App.Core.ArmSerial.SendMsgForResult(new byte[3] { 0x07, 0x33, 0x6b }, out byte[] resMsgClaw);
if (resClaw && resMsgClaw[0] > 0)
{
if(result)
{
App.Core.ArmDispose();
}
clawConnected = true;
Log.Info($"{item}连接成功找到jyker夹爪");
this.Dispatcher.Invoke(() => {
gb_ClawControl.IsEnabled = true;
});
}
if (result&&!armConnected&&!clawConnected)
{
App.Core.ArmDispose();
}
}
}
}
catch (Exception ex)
@ -301,7 +300,7 @@ namespace BigProject
}
//手动连接
private void Bt_Link_Click(object sender, RoutedEventArgs e)
private void bt_Link_Click(object sender, RoutedEventArgs e)
{
if (bt_Link.Content.ToString() == "断开连接")
{
@ -310,6 +309,7 @@ namespace BigProject
bt_Link.Content = "手动连接";
App.Core.ArmDispose();
SetButtomState(false);
gb_ClawControl.IsEnabled = false;
}
else
{
@ -323,11 +323,12 @@ namespace BigProject
SetButtomState(true);
//读取位置信息并赋值
MainWindow_UpdateJointAngle();
gb_ClawControl.IsEnabled = true;
}
}
}
//获取当前电机目标位置
private void Bt_GetCurrentAngle_Click(object sender, RoutedEventArgs e)
private void bt_GetCurrentAngle_Click(object sender, RoutedEventArgs e)
{
MainWindow_UpdateJointAngle();
}
@ -375,13 +376,13 @@ namespace BigProject
}
//让机械臂运动
private void Bt_MoveJoint_Click(object sender, RoutedEventArgs e)
private void bt_MoveJoint_Click(object sender, RoutedEventArgs e)
{
App.Core.ArmContrl.MoveJoints();
}
//逆解计算
private void Bt_IK_Click(object sender, RoutedEventArgs e)
private void bt_IK_Click(object sender, RoutedEventArgs e)
{
double.TryParse(tb_X.Text, out double x);
double.TryParse(tb_Y.Text, out double y);
@ -405,7 +406,7 @@ namespace BigProject
tb_Joint6.Text = Math.Round(joint.a[5], 2) + "";
}
//正解计算
private void Bt_FK_Click(object sender, RoutedEventArgs e)
private void bt_FK_Click(object sender, RoutedEventArgs e)
{
double.TryParse(tb_Joint1.Text, out double a1);
double.TryParse(tb_Joint2.Text, out double a2);
@ -431,13 +432,13 @@ namespace BigProject
}
//立即停止
private void Bt_StopNow_Click(object sender, RoutedEventArgs e)
private void bt_StopNow_Click(object sender, RoutedEventArgs e)
{
App.Core.ArmContrl.ArmStopNow();
}
//回零操作
private async void Bt_Home_Click(object sender, RoutedEventArgs e)
private async void bt_Home_Click(object sender, RoutedEventArgs e)
{
var result = await MessageBoxR.Show("注意!非金属减速机版本请手动回零,否则容易损坏减速器!确定要回零吗?",
"确认操作",
@ -468,7 +469,73 @@ namespace BigProject
}
}
#endregion
#region
bool LoopReadClawAngle = false;
private void bt_ClawHome_Click(object sender, RoutedEventArgs e)
{
App.Core.ArmClaw.Home();
}
//关闭堵转保护
private void bt_ClawStop_Click(object sender, RoutedEventArgs e)
{
App.Core.ArmClaw.Stop();
}
//开启循环读取信息
private void bt_ClawLoopStart_Click(object sender, RoutedEventArgs e)
{
LoopReadClawAngle = true;
bt_ClawLoopStart.IsEnabled = false;
bt_ClawStop.IsEnabled = true;
Task.Run(() => {
while (LoopReadClawAngle)
{
App.Core.ArmClaw.ReadAngle();
Thread.Sleep(50);
}
});
}
//关闭循环读取角度信息
private void bt_ClawLoopEnd_Click(object sender, RoutedEventArgs e)
{
LoopReadClawAngle = false;
bt_ClawLoopStart.IsEnabled = true;
bt_ClawStop.IsEnabled = false;
}
//设置夹爪角度
private void pg_ClawAngle_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
{
if (!gb_ClawControl.IsEnabled)
{
return;
}
var value = e.NewValue;
Task.Run(() =>
{
App.Core.ArmClaw.SetAngle(value);
});
}
//更新夹爪的信息
private void UpdateClawMsg(double angle,double length,double power)
{
this.Dispatcher.Invoke(() => {
//pg_ClawAngle.Value = angle;
pg_ClawLength.Value = length;
pg_ClawPower.Value = power;
tb_ClawAngle.Text = $"{angle}°";
tb_ClawLength.Text = $"{length}mm";
tb_ClawPower.Text = $"{power}";
});
}
private void pg_ClawAngle_MouseUp(object sender, MouseButtonEventArgs e)
{
}
#endregion
#region
@ -566,6 +633,9 @@ namespace BigProject
}
#endregion

View File

@ -243,6 +243,7 @@ namespace BigProject.Serials
SendMsgForResult(bytes.ToArray(), out byte[] resMsg);
}
/// <summary>
/// 数字转化为多数组
/// </summary>

View File

@ -1,4 +1,4 @@
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "5081B605B8FB759B1727DF15C058D47880AB32717238EDBB266C043BD530BD89"
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "115D720939A442AF87A92917FA8D07FF2AA955CDDF74C2151C8ED96710B646FC"
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
@ -75,15 +75,103 @@ namespace BigProject {
#line hidden
#line 42 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.GroupBox gb_ClawControl;
#line default
#line hidden
#line 46 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawHome;
#line default
#line hidden
#line 49 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawStop;
#line default
#line hidden
#line 52 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopStart;
#line default
#line hidden
#line 55 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopEnd;
#line default
#line hidden
#line 63 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Slider pg_ClawAngle;
#line default
#line hidden
#line 66 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawAngle;
#line default
#line hidden
#line 72 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawLength;
#line default
#line hidden
#line 75 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawLength;
#line default
#line hidden
#line 83 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawPower;
#line default
#line hidden
#line 86 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawPower;
#line default
#line hidden
#line 103 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ComboBox cb_ComList;
#line default
#line hidden
#line 56 "..\..\MainWindow.xaml"
#line 107 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Link;
@ -91,7 +179,7 @@ namespace BigProject {
#line hidden
#line 57 "..\..\MainWindow.xaml"
#line 108 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_LinkAuto;
@ -99,7 +187,7 @@ namespace BigProject {
#line hidden
#line 69 "..\..\MainWindow.xaml"
#line 120 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_X;
@ -107,7 +195,7 @@ namespace BigProject {
#line hidden
#line 77 "..\..\MainWindow.xaml"
#line 128 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Y;
@ -115,7 +203,7 @@ namespace BigProject {
#line hidden
#line 85 "..\..\MainWindow.xaml"
#line 136 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Z;
@ -123,7 +211,7 @@ namespace BigProject {
#line hidden
#line 93 "..\..\MainWindow.xaml"
#line 144 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_A;
@ -131,7 +219,7 @@ namespace BigProject {
#line hidden
#line 101 "..\..\MainWindow.xaml"
#line 152 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_B;
@ -139,7 +227,7 @@ namespace BigProject {
#line hidden
#line 109 "..\..\MainWindow.xaml"
#line 160 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_C;
@ -147,7 +235,7 @@ namespace BigProject {
#line hidden
#line 118 "..\..\MainWindow.xaml"
#line 169 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint1;
@ -155,7 +243,7 @@ namespace BigProject {
#line hidden
#line 126 "..\..\MainWindow.xaml"
#line 177 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint2;
@ -163,7 +251,7 @@ namespace BigProject {
#line hidden
#line 134 "..\..\MainWindow.xaml"
#line 185 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint3;
@ -171,7 +259,7 @@ namespace BigProject {
#line hidden
#line 142 "..\..\MainWindow.xaml"
#line 193 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint4;
@ -179,7 +267,7 @@ namespace BigProject {
#line hidden
#line 150 "..\..\MainWindow.xaml"
#line 201 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint5;
@ -187,7 +275,7 @@ namespace BigProject {
#line hidden
#line 158 "..\..\MainWindow.xaml"
#line 209 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint6;
@ -195,7 +283,7 @@ namespace BigProject {
#line hidden
#line 163 "..\..\MainWindow.xaml"
#line 214 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Home;
@ -203,7 +291,7 @@ namespace BigProject {
#line hidden
#line 166 "..\..\MainWindow.xaml"
#line 217 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_StopNow;
@ -211,7 +299,7 @@ namespace BigProject {
#line hidden
#line 171 "..\..\MainWindow.xaml"
#line 222 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_FK;
@ -219,7 +307,7 @@ namespace BigProject {
#line hidden
#line 174 "..\..\MainWindow.xaml"
#line 225 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_IK;
@ -227,7 +315,7 @@ namespace BigProject {
#line hidden
#line 179 "..\..\MainWindow.xaml"
#line 230 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveJoint;
@ -235,7 +323,7 @@ namespace BigProject {
#line hidden
#line 182 "..\..\MainWindow.xaml"
#line 233 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_GetCurrentAngle;
@ -243,7 +331,7 @@ namespace BigProject {
#line hidden
#line 187 "..\..\MainWindow.xaml"
#line 238 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveArmHand;
@ -251,7 +339,7 @@ namespace BigProject {
#line hidden
#line 190 "..\..\MainWindow.xaml"
#line 241 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_AddRecord;
@ -259,7 +347,7 @@ namespace BigProject {
#line hidden
#line 195 "..\..\MainWindow.xaml"
#line 246 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoop;
@ -267,7 +355,7 @@ namespace BigProject {
#line hidden
#line 198 "..\..\MainWindow.xaml"
#line 249 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoopStop;
@ -275,7 +363,7 @@ namespace BigProject {
#line hidden
#line 203 "..\..\MainWindow.xaml"
#line 254 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_DeleteRecord;
@ -283,7 +371,7 @@ namespace BigProject {
#line hidden
#line 209 "..\..\MainWindow.xaml"
#line 260 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tbLog;
@ -333,114 +421,231 @@ namespace BigProject {
this.AddTime = ((System.Windows.Controls.DataGridTextColumn)(target));
return;
case 5:
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
this.gb_ClawControl = ((System.Windows.Controls.GroupBox)(target));
return;
case 6:
this.bt_Link = ((System.Windows.Controls.Button)(target));
this.bt_ClawHome = ((System.Windows.Controls.Button)(target));
#line 46 "..\..\MainWindow.xaml"
this.bt_ClawHome.Click += new System.Windows.RoutedEventHandler(this.bt_ClawHome_Click);
#line default
#line hidden
return;
case 7:
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
this.bt_ClawStop = ((System.Windows.Controls.Button)(target));
#line 49 "..\..\MainWindow.xaml"
this.bt_ClawStop.Click += new System.Windows.RoutedEventHandler(this.bt_ClawStop_Click);
#line default
#line hidden
return;
case 8:
this.tb_X = ((System.Windows.Controls.TextBox)(target));
this.bt_ClawLoopStart = ((System.Windows.Controls.Button)(target));
#line 52 "..\..\MainWindow.xaml"
this.bt_ClawLoopStart.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopStart_Click);
#line default
#line hidden
return;
case 9:
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
this.bt_ClawLoopEnd = ((System.Windows.Controls.Button)(target));
#line 55 "..\..\MainWindow.xaml"
this.bt_ClawLoopEnd.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopEnd_Click);
#line default
#line hidden
return;
case 10:
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
this.pg_ClawAngle = ((System.Windows.Controls.Slider)(target));
#line 63 "..\..\MainWindow.xaml"
this.pg_ClawAngle.ValueChanged += new System.Windows.RoutedPropertyChangedEventHandler<double>(this.pg_ClawAngle_ValueChanged);
#line default
#line hidden
#line 63 "..\..\MainWindow.xaml"
this.pg_ClawAngle.MouseUp += new System.Windows.Input.MouseButtonEventHandler(this.pg_ClawAngle_MouseUp);
#line default
#line hidden
return;
case 11:
this.tb_A = ((System.Windows.Controls.TextBox)(target));
this.tb_ClawAngle = ((System.Windows.Controls.TextBlock)(target));
return;
case 12:
this.tb_B = ((System.Windows.Controls.TextBox)(target));
this.pg_ClawLength = ((System.Windows.Controls.ProgressBar)(target));
return;
case 13:
this.tb_C = ((System.Windows.Controls.TextBox)(target));
this.tb_ClawLength = ((System.Windows.Controls.TextBlock)(target));
return;
case 14:
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
this.pg_ClawPower = ((System.Windows.Controls.ProgressBar)(target));
return;
case 15:
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
this.tb_ClawPower = ((System.Windows.Controls.TextBlock)(target));
return;
case 16:
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
return;
case 17:
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
this.bt_Link = ((System.Windows.Controls.Button)(target));
#line 107 "..\..\MainWindow.xaml"
this.bt_Link.Click += new System.Windows.RoutedEventHandler(this.bt_Link_Click);
#line default
#line hidden
return;
case 18:
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
#line 108 "..\..\MainWindow.xaml"
this.bt_LinkAuto.Click += new System.Windows.RoutedEventHandler(this.bt_LinkAuto_Click);
#line default
#line hidden
return;
case 19:
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
this.tb_X = ((System.Windows.Controls.TextBox)(target));
return;
case 20:
this.bt_Home = ((System.Windows.Controls.Button)(target));
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
return;
case 21:
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
return;
case 22:
this.bt_FK = ((System.Windows.Controls.Button)(target));
this.tb_A = ((System.Windows.Controls.TextBox)(target));
return;
case 23:
this.bt_IK = ((System.Windows.Controls.Button)(target));
this.tb_B = ((System.Windows.Controls.TextBox)(target));
return;
case 24:
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
this.tb_C = ((System.Windows.Controls.TextBox)(target));
return;
case 25:
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
return;
case 26:
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
return;
case 27:
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
return;
case 28:
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
return;
case 29:
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
return;
case 30:
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
return;
case 31:
this.bt_Home = ((System.Windows.Controls.Button)(target));
#line 214 "..\..\MainWindow.xaml"
this.bt_Home.Click += new System.Windows.RoutedEventHandler(this.bt_Home_Click);
#line default
#line hidden
return;
case 32:
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
#line 217 "..\..\MainWindow.xaml"
this.bt_StopNow.Click += new System.Windows.RoutedEventHandler(this.bt_StopNow_Click);
#line default
#line hidden
return;
case 33:
this.bt_FK = ((System.Windows.Controls.Button)(target));
#line 222 "..\..\MainWindow.xaml"
this.bt_FK.Click += new System.Windows.RoutedEventHandler(this.bt_FK_Click);
#line default
#line hidden
return;
case 34:
this.bt_IK = ((System.Windows.Controls.Button)(target));
#line 225 "..\..\MainWindow.xaml"
this.bt_IK.Click += new System.Windows.RoutedEventHandler(this.bt_IK_Click);
#line default
#line hidden
return;
case 35:
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
#line 230 "..\..\MainWindow.xaml"
this.bt_MoveJoint.Click += new System.Windows.RoutedEventHandler(this.bt_MoveJoint_Click);
#line default
#line hidden
return;
case 36:
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
#line 233 "..\..\MainWindow.xaml"
this.bt_GetCurrentAngle.Click += new System.Windows.RoutedEventHandler(this.bt_GetCurrentAngle_Click);
#line default
#line hidden
return;
case 37:
this.bt_MoveArmHand = ((System.Windows.Controls.Button)(target));
#line 187 "..\..\MainWindow.xaml"
#line 238 "..\..\MainWindow.xaml"
this.bt_MoveArmHand.Click += new System.Windows.RoutedEventHandler(this.bt_MoveArmHand_Click);
#line default
#line hidden
return;
case 27:
case 38:
this.bt_AddRecord = ((System.Windows.Controls.Button)(target));
#line 190 "..\..\MainWindow.xaml"
#line 241 "..\..\MainWindow.xaml"
this.bt_AddRecord.Click += new System.Windows.RoutedEventHandler(this.bt_AddRecord_Click);
#line default
#line hidden
return;
case 28:
case 39:
this.bt_MoveLoop = ((System.Windows.Controls.Button)(target));
#line 195 "..\..\MainWindow.xaml"
#line 246 "..\..\MainWindow.xaml"
this.bt_MoveLoop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoop_Click);
#line default
#line hidden
return;
case 29:
case 40:
this.bt_MoveLoopStop = ((System.Windows.Controls.Button)(target));
#line 198 "..\..\MainWindow.xaml"
#line 249 "..\..\MainWindow.xaml"
this.bt_MoveLoopStop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoopStop_Click);
#line default
#line hidden
return;
case 30:
case 41:
this.bt_DeleteRecord = ((System.Windows.Controls.Button)(target));
#line 203 "..\..\MainWindow.xaml"
#line 254 "..\..\MainWindow.xaml"
this.bt_DeleteRecord.Click += new System.Windows.RoutedEventHandler(this.bt_DeleteRecord_Click);
#line default
#line hidden
return;
case 31:
case 42:
this.tbLog = ((System.Windows.Controls.TextBox)(target));
return;
}

View File

@ -1,4 +1,4 @@
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "5081B605B8FB759B1727DF15C058D47880AB32717238EDBB266C043BD530BD89"
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "115D720939A442AF87A92917FA8D07FF2AA955CDDF74C2151C8ED96710B646FC"
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
@ -75,15 +75,103 @@ namespace BigProject {
#line hidden
#line 42 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.GroupBox gb_ClawControl;
#line default
#line hidden
#line 46 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawHome;
#line default
#line hidden
#line 49 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawStop;
#line default
#line hidden
#line 52 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopStart;
#line default
#line hidden
#line 55 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopEnd;
#line default
#line hidden
#line 63 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Slider pg_ClawAngle;
#line default
#line hidden
#line 66 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawAngle;
#line default
#line hidden
#line 72 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawLength;
#line default
#line hidden
#line 75 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawLength;
#line default
#line hidden
#line 83 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawPower;
#line default
#line hidden
#line 86 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawPower;
#line default
#line hidden
#line 103 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ComboBox cb_ComList;
#line default
#line hidden
#line 56 "..\..\MainWindow.xaml"
#line 107 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Link;
@ -91,7 +179,7 @@ namespace BigProject {
#line hidden
#line 57 "..\..\MainWindow.xaml"
#line 108 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_LinkAuto;
@ -99,7 +187,7 @@ namespace BigProject {
#line hidden
#line 69 "..\..\MainWindow.xaml"
#line 120 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_X;
@ -107,7 +195,7 @@ namespace BigProject {
#line hidden
#line 77 "..\..\MainWindow.xaml"
#line 128 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Y;
@ -115,7 +203,7 @@ namespace BigProject {
#line hidden
#line 85 "..\..\MainWindow.xaml"
#line 136 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Z;
@ -123,7 +211,7 @@ namespace BigProject {
#line hidden
#line 93 "..\..\MainWindow.xaml"
#line 144 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_A;
@ -131,7 +219,7 @@ namespace BigProject {
#line hidden
#line 101 "..\..\MainWindow.xaml"
#line 152 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_B;
@ -139,7 +227,7 @@ namespace BigProject {
#line hidden
#line 109 "..\..\MainWindow.xaml"
#line 160 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_C;
@ -147,7 +235,7 @@ namespace BigProject {
#line hidden
#line 118 "..\..\MainWindow.xaml"
#line 169 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint1;
@ -155,7 +243,7 @@ namespace BigProject {
#line hidden
#line 126 "..\..\MainWindow.xaml"
#line 177 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint2;
@ -163,7 +251,7 @@ namespace BigProject {
#line hidden
#line 134 "..\..\MainWindow.xaml"
#line 185 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint3;
@ -171,7 +259,7 @@ namespace BigProject {
#line hidden
#line 142 "..\..\MainWindow.xaml"
#line 193 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint4;
@ -179,7 +267,7 @@ namespace BigProject {
#line hidden
#line 150 "..\..\MainWindow.xaml"
#line 201 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint5;
@ -187,7 +275,7 @@ namespace BigProject {
#line hidden
#line 158 "..\..\MainWindow.xaml"
#line 209 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint6;
@ -195,7 +283,7 @@ namespace BigProject {
#line hidden
#line 163 "..\..\MainWindow.xaml"
#line 214 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Home;
@ -203,7 +291,7 @@ namespace BigProject {
#line hidden
#line 166 "..\..\MainWindow.xaml"
#line 217 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_StopNow;
@ -211,7 +299,7 @@ namespace BigProject {
#line hidden
#line 171 "..\..\MainWindow.xaml"
#line 222 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_FK;
@ -219,7 +307,7 @@ namespace BigProject {
#line hidden
#line 174 "..\..\MainWindow.xaml"
#line 225 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_IK;
@ -227,7 +315,7 @@ namespace BigProject {
#line hidden
#line 179 "..\..\MainWindow.xaml"
#line 230 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveJoint;
@ -235,7 +323,7 @@ namespace BigProject {
#line hidden
#line 182 "..\..\MainWindow.xaml"
#line 233 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_GetCurrentAngle;
@ -243,7 +331,7 @@ namespace BigProject {
#line hidden
#line 187 "..\..\MainWindow.xaml"
#line 238 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveArmHand;
@ -251,7 +339,7 @@ namespace BigProject {
#line hidden
#line 190 "..\..\MainWindow.xaml"
#line 241 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_AddRecord;
@ -259,7 +347,7 @@ namespace BigProject {
#line hidden
#line 195 "..\..\MainWindow.xaml"
#line 246 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoop;
@ -267,7 +355,7 @@ namespace BigProject {
#line hidden
#line 198 "..\..\MainWindow.xaml"
#line 249 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoopStop;
@ -275,7 +363,7 @@ namespace BigProject {
#line hidden
#line 203 "..\..\MainWindow.xaml"
#line 254 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_DeleteRecord;
@ -283,7 +371,7 @@ namespace BigProject {
#line hidden
#line 209 "..\..\MainWindow.xaml"
#line 260 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tbLog;
@ -333,114 +421,231 @@ namespace BigProject {
this.AddTime = ((System.Windows.Controls.DataGridTextColumn)(target));
return;
case 5:
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
this.gb_ClawControl = ((System.Windows.Controls.GroupBox)(target));
return;
case 6:
this.bt_Link = ((System.Windows.Controls.Button)(target));
this.bt_ClawHome = ((System.Windows.Controls.Button)(target));
#line 46 "..\..\MainWindow.xaml"
this.bt_ClawHome.Click += new System.Windows.RoutedEventHandler(this.bt_ClawHome_Click);
#line default
#line hidden
return;
case 7:
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
this.bt_ClawStop = ((System.Windows.Controls.Button)(target));
#line 49 "..\..\MainWindow.xaml"
this.bt_ClawStop.Click += new System.Windows.RoutedEventHandler(this.bt_ClawStop_Click);
#line default
#line hidden
return;
case 8:
this.tb_X = ((System.Windows.Controls.TextBox)(target));
this.bt_ClawLoopStart = ((System.Windows.Controls.Button)(target));
#line 52 "..\..\MainWindow.xaml"
this.bt_ClawLoopStart.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopStart_Click);
#line default
#line hidden
return;
case 9:
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
this.bt_ClawLoopEnd = ((System.Windows.Controls.Button)(target));
#line 55 "..\..\MainWindow.xaml"
this.bt_ClawLoopEnd.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopEnd_Click);
#line default
#line hidden
return;
case 10:
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
this.pg_ClawAngle = ((System.Windows.Controls.Slider)(target));
#line 63 "..\..\MainWindow.xaml"
this.pg_ClawAngle.ValueChanged += new System.Windows.RoutedPropertyChangedEventHandler<double>(this.pg_ClawAngle_ValueChanged);
#line default
#line hidden
#line 63 "..\..\MainWindow.xaml"
this.pg_ClawAngle.MouseUp += new System.Windows.Input.MouseButtonEventHandler(this.pg_ClawAngle_MouseUp);
#line default
#line hidden
return;
case 11:
this.tb_A = ((System.Windows.Controls.TextBox)(target));
this.tb_ClawAngle = ((System.Windows.Controls.TextBlock)(target));
return;
case 12:
this.tb_B = ((System.Windows.Controls.TextBox)(target));
this.pg_ClawLength = ((System.Windows.Controls.ProgressBar)(target));
return;
case 13:
this.tb_C = ((System.Windows.Controls.TextBox)(target));
this.tb_ClawLength = ((System.Windows.Controls.TextBlock)(target));
return;
case 14:
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
this.pg_ClawPower = ((System.Windows.Controls.ProgressBar)(target));
return;
case 15:
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
this.tb_ClawPower = ((System.Windows.Controls.TextBlock)(target));
return;
case 16:
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
return;
case 17:
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
this.bt_Link = ((System.Windows.Controls.Button)(target));
#line 107 "..\..\MainWindow.xaml"
this.bt_Link.Click += new System.Windows.RoutedEventHandler(this.bt_Link_Click);
#line default
#line hidden
return;
case 18:
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
#line 108 "..\..\MainWindow.xaml"
this.bt_LinkAuto.Click += new System.Windows.RoutedEventHandler(this.bt_LinkAuto_Click);
#line default
#line hidden
return;
case 19:
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
this.tb_X = ((System.Windows.Controls.TextBox)(target));
return;
case 20:
this.bt_Home = ((System.Windows.Controls.Button)(target));
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
return;
case 21:
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
return;
case 22:
this.bt_FK = ((System.Windows.Controls.Button)(target));
this.tb_A = ((System.Windows.Controls.TextBox)(target));
return;
case 23:
this.bt_IK = ((System.Windows.Controls.Button)(target));
this.tb_B = ((System.Windows.Controls.TextBox)(target));
return;
case 24:
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
this.tb_C = ((System.Windows.Controls.TextBox)(target));
return;
case 25:
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
return;
case 26:
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
return;
case 27:
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
return;
case 28:
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
return;
case 29:
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
return;
case 30:
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
return;
case 31:
this.bt_Home = ((System.Windows.Controls.Button)(target));
#line 214 "..\..\MainWindow.xaml"
this.bt_Home.Click += new System.Windows.RoutedEventHandler(this.bt_Home_Click);
#line default
#line hidden
return;
case 32:
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
#line 217 "..\..\MainWindow.xaml"
this.bt_StopNow.Click += new System.Windows.RoutedEventHandler(this.bt_StopNow_Click);
#line default
#line hidden
return;
case 33:
this.bt_FK = ((System.Windows.Controls.Button)(target));
#line 222 "..\..\MainWindow.xaml"
this.bt_FK.Click += new System.Windows.RoutedEventHandler(this.bt_FK_Click);
#line default
#line hidden
return;
case 34:
this.bt_IK = ((System.Windows.Controls.Button)(target));
#line 225 "..\..\MainWindow.xaml"
this.bt_IK.Click += new System.Windows.RoutedEventHandler(this.bt_IK_Click);
#line default
#line hidden
return;
case 35:
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
#line 230 "..\..\MainWindow.xaml"
this.bt_MoveJoint.Click += new System.Windows.RoutedEventHandler(this.bt_MoveJoint_Click);
#line default
#line hidden
return;
case 36:
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
#line 233 "..\..\MainWindow.xaml"
this.bt_GetCurrentAngle.Click += new System.Windows.RoutedEventHandler(this.bt_GetCurrentAngle_Click);
#line default
#line hidden
return;
case 37:
this.bt_MoveArmHand = ((System.Windows.Controls.Button)(target));
#line 187 "..\..\MainWindow.xaml"
#line 238 "..\..\MainWindow.xaml"
this.bt_MoveArmHand.Click += new System.Windows.RoutedEventHandler(this.bt_MoveArmHand_Click);
#line default
#line hidden
return;
case 27:
case 38:
this.bt_AddRecord = ((System.Windows.Controls.Button)(target));
#line 190 "..\..\MainWindow.xaml"
#line 241 "..\..\MainWindow.xaml"
this.bt_AddRecord.Click += new System.Windows.RoutedEventHandler(this.bt_AddRecord_Click);
#line default
#line hidden
return;
case 28:
case 39:
this.bt_MoveLoop = ((System.Windows.Controls.Button)(target));
#line 195 "..\..\MainWindow.xaml"
#line 246 "..\..\MainWindow.xaml"
this.bt_MoveLoop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoop_Click);
#line default
#line hidden
return;
case 29:
case 40:
this.bt_MoveLoopStop = ((System.Windows.Controls.Button)(target));
#line 198 "..\..\MainWindow.xaml"
#line 249 "..\..\MainWindow.xaml"
this.bt_MoveLoopStop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoopStop_Click);
#line default
#line hidden
return;
case 30:
case 41:
this.bt_DeleteRecord = ((System.Windows.Controls.Button)(target));
#line 203 "..\..\MainWindow.xaml"
#line 254 "..\..\MainWindow.xaml"
this.bt_DeleteRecord.Click += new System.Windows.RoutedEventHandler(this.bt_DeleteRecord_Click);
#line default
#line hidden
return;
case 31:
case 42:
this.tbLog = ((System.Windows.Controls.TextBox)(target));
return;
}

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