mirror of
https://gitee.com/dashuaibran/jyker
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更新夹爪
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@ -29,6 +29,8 @@ namespace BigProject
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public ArmConfig ArmConfig { get; set; }
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//机械臂控制
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public ArmContrl ArmContrl { get; set; }
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//夹爪控制
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public ArmClaw ArmClaw { get; set; }
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//轴移动记录
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public ObservableCollection<JointRecordModel> JointRecords = new ObservableCollection<JointRecordModel>();
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public Core()
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@ -48,6 +50,7 @@ namespace BigProject
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}
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ArmConfig = new ArmConfig() { D_BASE = 0, L_BASE = 161.5, L_ARM = 170, D_ELBOW = 70, L_FOREARM = 117, L_WRIST = 97 };
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ArmContrl = new ArmContrl(ArmConfig, ArmSerial);
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ArmClaw = new ArmClaw(ArmSerial);
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return true;
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}
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@ -1,23 +1,87 @@
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using System;
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using BigProject.Logger;
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using BigProject.Serials;
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using System;
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using System.Collections.Generic;
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using System.Data;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace BigProject.Devices.Arm
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{
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public class ArmClaw:BaseDevice
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{
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//开启夹爪
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public void Open()
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{
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App.Core.ArmSerial.CtrClaw(40,140,40);
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//角度转换成脉冲 3200 为 360°
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public const double DEG_TO_PULSE = 8.888888889;
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public const double CLAW_FINGER_LENTH = 45;
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public const double CLAW_FINGER_WIDTH = 15;
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public const double CLAW_FINGER_ANGLE = 70.53;
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private ArmSerial _armClawSerial;
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//更新信息回调
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public static event Action<double, double, double> UpdateClawMsgEvent;
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public ArmClaw(ArmSerial armClawSerial) {
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_armClawSerial = armClawSerial;
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}
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//关闭夹爪
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public void Close()
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//夹爪回零
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public void Home()
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{
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App.Core.ArmSerial.CtrClaw(80, 110, 80);
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_armClawSerial.EditZeroParams(addr: 7, direction: 1);
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_armClawSerial.Zero(7);
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}
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//夹爪停止
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public void Stop()
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{
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byte[] send = new byte[4] { 0x07, 0x0E, 0x52, 0x6B };
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_armClawSerial.SendMsgForResult(send, out byte[] resMsg);
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}
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//设置夹爪角度
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public void SetAngle(double Angle,double Speed = 5000,int Reduction = 9)
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{
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_armClawSerial.LocationControl(7, 0, (int)Speed, (int)0, (int)(Angle* DEG_TO_PULSE* Reduction), RelativeOrAbsolute.Absolute,isMultiMachine:0);
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}
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public void ReadAngle()
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{
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//读取状态信息 07 43 7A 6B
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byte[] send = new byte[4] { 0x07, 0x43, 0x7A, 0x6B };
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_armClawSerial.SendMsgForResult(send, out byte[] resMsg, 31);
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if (resMsg[1] == 0x00 && resMsg[2] == 0xEE)
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{
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return;
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}
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if (resMsg[0] != 0x07)
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{
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return;
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}
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//实时角度
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var temp = (resMsg[19] * 256 * 256 * 256 + resMsg[20] * 256 * 256 + resMsg[21] * 256 + resMsg[22]) * 360 / 65536.0 / 9 * 2;
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var Angle = Math.Round(temp, 2);
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if (Angle <= -0.8 || Angle > 180)
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{
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return;
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}
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//根据三角函数计算末端长度
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var Length = Math.Cos((180 - (Angle / 2) - CLAW_FINGER_ANGLE) / 180 * Math.PI) * CLAW_FINGER_LENTH + CLAW_FINGER_WIDTH;
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Length = Math.Round(Length * 2, 2);
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//根据实时相电流计算力矩大小
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var Power = (resMsg[6] * 256 + resMsg[7]) * 1.0;
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Power = Math.Round(Power, 2);
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if (Power == 0)
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{
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return;
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}
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//回调函数,让数值显示出来
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UpdateClawMsgEvent?.Invoke(Angle, Length, Power);
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//Log.Info($"Angle:{Angle}--Length:{Length}--Power:{Power}");
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}
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}
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}
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@ -27,7 +27,7 @@ namespace BigProject.Devices.Arm
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public Joint6D_t lastJoints;
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public Joint6D_t currentJoints;
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public Pose6D_t currentPose6D;
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public ArmSerial serialControl;
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private ArmSerial serialControl;
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public event Action<double, double, double, double, double, double> UpdateJointAngle;
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public ArmContrl(ArmConfig armConfig,ArmSerial armSerial)
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@ -18,7 +18,7 @@
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<TextBlock FontSize="60" Grid.Column="0" Foreground="Red" Panel.ZIndex="3" x:Name="ResultTextInPic" ></TextBlock>
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</Grid>
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</Grid>
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<Grid Grid.Column="1" rubyer:GridHelper.RowDefinitions="300,*">
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<Grid Grid.Column="1" rubyer:GridHelper.RowDefinitions="300,300,*">
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<GroupBox Header="点位循环记录">
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<DataGrid x:Name="dg_JointRecord" rubyer:ControlHelper.FocusedForegroundBrush="{StaticResource Accent}" AutoGenerateColumns="False" BorderThickness="1" CanUserAddRows="False" GridLinesVisibility="All" IsReadOnly="True" SelectionMode="Single">
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<DataGrid.Columns>
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@ -39,6 +39,57 @@
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</DataGrid.Columns>
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</DataGrid>
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</GroupBox>
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<GroupBox Header="夹爪控制" Grid.Row="1" x:Name="gb_ClawControl" IsEnabled="False">
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<Grid rubyer:GridHelper.RowDefinitions="40,40,40,40,*">
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<Grid rubyer:GridHelper.ColumnDefinitions="*,*,*,*" >
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<Grid Grid.Column="0" Margin="2">
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<Button x:Name="bt_ClawHome" Click="bt_ClawHome_Click">夹爪回零</Button>
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</Grid>
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<Grid Grid.Column="1" Margin="2">
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<Button x:Name="bt_ClawStop" Click="bt_ClawStop_Click">夹爪关闭堵转</Button>
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</Grid>
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<Grid Grid.Column="2" Margin="2">
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<Button x:Name="bt_ClawLoopStart" Click="bt_ClawLoopStart_Click">开始监视信息</Button>
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</Grid>
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<Grid Grid.Column="3" Margin="2">
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<Button x:Name="bt_ClawLoopEnd" IsEnabled="False" Click="bt_ClawLoopEnd_Click">停止监视信息</Button>
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</Grid>
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</Grid>
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<Grid Grid.Row="1" rubyer:GridHelper.ColumnDefinitions="60,*,50,60,*,50">
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<Grid Grid.Column="0" Margin="2">
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<TextBlock>末端夹角:</TextBlock>
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</Grid>
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<Grid Grid.Column="1" Margin="2">
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<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>
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</Grid>
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<Grid Grid.Column="2" Margin="2">
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<TextBlock x:Name="tb_ClawAngle">0°</TextBlock>
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</Grid>
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<Grid Grid.Column="3" Margin="2">
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<TextBlock>末端长度:</TextBlock>
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</Grid>
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<Grid Grid.Column="4" Margin="2">
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<ProgressBar Margin="0 16 0 0" Value="0" x:Name="pg_ClawLength"></ProgressBar>
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</Grid>
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<Grid Grid.Column="5" Margin="2">
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<TextBlock x:Name="tb_ClawLength">50mm</TextBlock>
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</Grid>
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</Grid>
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<Grid Grid.Row="2" rubyer:GridHelper.ColumnDefinitions="60,*,50,60,*,50">
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<Grid Grid.Column="0" Margin="2">
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<TextBlock>末端受力:</TextBlock>
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</Grid>
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<Grid Grid.Column="1" Margin="2">
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<ProgressBar Margin="0 16 0 0" Value="0" x:Name="pg_ClawPower" Minimum="0" Maximum="2000"></ProgressBar>
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</Grid>
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<Grid Grid.Column="2" Margin="2">
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<TextBlock x:Name="tb_ClawPower" >0</TextBlock>
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</Grid>
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</Grid>
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</Grid>
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</GroupBox>
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</Grid>
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<Grid Grid.Column="2" rubyer:GridHelper.RowDefinitions="100,610,*" Margin="5,2,5,5">
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@ -53,8 +104,8 @@
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</Grid>
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</Grid>
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<Grid Grid.Row="1" rubyer:GridHelper.ColumnDefinitions="*,*">
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<Button x:Name="bt_Link" Margin="2">手动连接</Button>
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<Button x:Name="bt_LinkAuto" Margin="2" Grid.Column="1">自动连接</Button>
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<Button x:Name="bt_Link" Margin="2" Click="bt_Link_Click">手动连接</Button>
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<Button x:Name="bt_LinkAuto" Margin="2" Grid.Column="1" Click="bt_LinkAuto_Click">自动连接</Button>
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</Grid>
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</Grid>
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</GroupBox>
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@ -160,26 +211,26 @@
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</Grid>
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<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="13">
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<Grid Grid.Column="0" Margin="2">
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<Button x:Name="bt_Home">回零</Button>
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<Button x:Name="bt_Home" Click="bt_Home_Click">回零</Button>
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</Grid>
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<Grid Grid.Column="1" Margin="2">
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<Button x:Name="bt_StopNow">立即停止</Button>
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<Button x:Name="bt_StopNow" Click="bt_StopNow_Click">立即停止</Button>
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</Grid>
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</Grid>
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<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="14">
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<Grid Grid.Column="0" Margin="2">
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<Button x:Name="bt_FK">正解计算</Button>
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<Button x:Name="bt_FK" Height="26" VerticalAlignment="Top" Click="bt_FK_Click">正解计算</Button>
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</Grid>
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<Grid Grid.Column="1" Margin="2">
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<Button x:Name="bt_IK">逆解计算</Button>
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<Button x:Name="bt_IK" Click="bt_IK_Click">逆解计算</Button>
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</Grid>
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</Grid>
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<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="15">
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<Grid Grid.Column="0" Margin="2">
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<Button x:Name="bt_MoveJoint">运动机械臂</Button>
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<Button x:Name="bt_MoveJoint" Click="bt_MoveJoint_Click">运动机械臂</Button>
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</Grid>
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<Grid Grid.Column="1" Margin="2">
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<Button x:Name="bt_GetCurrentAngle">获取当前位置</Button>
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<Button x:Name="bt_GetCurrentAngle" Click="bt_GetCurrentAngle_Click">获取当前位置</Button>
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</Grid>
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</Grid>
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<Grid rubyer:GridHelper.ColumnDefinitions="*,*" Grid.Row="16">
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@ -62,24 +62,9 @@ namespace BigProject
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//添加日志输出
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Log.MessageEvent += Log_MessageEvent;
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//手动连接
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bt_Link.Click += Bt_Link_Click;
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//自动连接
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bt_LinkAuto.Click += Bt_LinkAuto_Click;
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//添加夹爪信息回调
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ArmClaw.UpdateClawMsgEvent+= UpdateClawMsg;
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//回零
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bt_Home.Click += Bt_Home_Click;
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//立即停止
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bt_StopNow.Click += Bt_StopNow_Click;
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//正解计算
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bt_FK.Click += Bt_FK_Click;
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//逆解计算
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bt_IK.Click += Bt_IK_Click;
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//让机械臂运动
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bt_MoveJoint.Click += Bt_MoveJoint_Click;
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//获取当前位置
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bt_GetCurrentAngle.Click += Bt_GetCurrentAngle_Click;
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//赋值当前角度位置
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//MainWindow_UpdateJointAngle();
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@ -92,6 +77,7 @@ namespace BigProject
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}
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#region 机械臂控制
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//加载记录列表
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private void LoadJointRecords()
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{
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@ -221,6 +207,7 @@ namespace BigProject
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bt_MoveLoop.IsEnabled = State;
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bt_MoveLoopStop.IsEnabled = State;
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bt_DeleteRecord.IsEnabled = State;
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});
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}
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//加载串口列表
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@ -250,7 +237,7 @@ namespace BigProject
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}
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//自动连接
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private void Bt_LinkAuto_Click(object sender, RoutedEventArgs e)
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private void bt_LinkAuto_Click(object sender, RoutedEventArgs e)
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{
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var list = LoadComList();
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//连接
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@ -265,6 +252,8 @@ namespace BigProject
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var result = App.Core.InitArm(item);
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if (result)
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{
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//查看是否存在机械臂
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var armConnected = false;
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var res =App.Core.ArmSerial.SendMsgForResult(new byte[3] { 0x01, 0x33, 0x6b },out byte[] resMsg);
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Thread.Sleep(500);
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if (res&&resMsg[0] > 0)
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@ -276,19 +265,29 @@ namespace BigProject
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cb_ComList.IsEnabled = false;
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bt_Link.Content = "断开连接";
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SetButtomState(true);
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armConnected = true;
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//读取位置信息并赋值
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MainWindow_UpdateJointAngle();
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});
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}
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else
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//夹爪连接
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var clawConnected = false;
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var resClaw = App.Core.ArmSerial.SendMsgForResult(new byte[3] { 0x07, 0x33, 0x6b }, out byte[] resMsgClaw);
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if (resClaw && resMsgClaw[0] > 0)
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{
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if(result)
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clawConnected = true;
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Log.Info($"{item}连接成功,找到jyker夹爪");
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this.Dispatcher.Invoke(() => {
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gb_ClawControl.IsEnabled = true;
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});
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}
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if (result&&!armConnected&&!clawConnected)
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{
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App.Core.ArmDispose();
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}
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}
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}
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}
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}
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@ -301,7 +300,7 @@ namespace BigProject
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}
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//手动连接
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private void Bt_Link_Click(object sender, RoutedEventArgs e)
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private void bt_Link_Click(object sender, RoutedEventArgs e)
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{
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if (bt_Link.Content.ToString() == "断开连接")
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{
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@ -310,6 +309,7 @@ namespace BigProject
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bt_Link.Content = "手动连接";
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App.Core.ArmDispose();
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SetButtomState(false);
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gb_ClawControl.IsEnabled = false;
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}
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else
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{
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@ -323,11 +323,12 @@ namespace BigProject
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SetButtomState(true);
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//读取位置信息并赋值
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MainWindow_UpdateJointAngle();
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gb_ClawControl.IsEnabled = true;
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}
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}
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}
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//获取当前电机目标位置
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private void Bt_GetCurrentAngle_Click(object sender, RoutedEventArgs e)
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private void bt_GetCurrentAngle_Click(object sender, RoutedEventArgs e)
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{
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MainWindow_UpdateJointAngle();
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}
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@ -375,13 +376,13 @@ namespace BigProject
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}
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//让机械臂运动
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private void Bt_MoveJoint_Click(object sender, RoutedEventArgs e)
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private void bt_MoveJoint_Click(object sender, RoutedEventArgs e)
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{
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App.Core.ArmContrl.MoveJoints();
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}
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//逆解计算
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private void Bt_IK_Click(object sender, RoutedEventArgs e)
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private void bt_IK_Click(object sender, RoutedEventArgs e)
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{
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double.TryParse(tb_X.Text, out double x);
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double.TryParse(tb_Y.Text, out double y);
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@ -405,7 +406,7 @@ namespace BigProject
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tb_Joint6.Text = Math.Round(joint.a[5], 2) + "";
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}
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//正解计算
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private void Bt_FK_Click(object sender, RoutedEventArgs e)
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private void bt_FK_Click(object sender, RoutedEventArgs e)
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{
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double.TryParse(tb_Joint1.Text, out double a1);
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double.TryParse(tb_Joint2.Text, out double a2);
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@ -431,13 +432,13 @@ namespace BigProject
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}
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//立即停止
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private void Bt_StopNow_Click(object sender, RoutedEventArgs e)
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private void bt_StopNow_Click(object sender, RoutedEventArgs e)
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{
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App.Core.ArmContrl.ArmStopNow();
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}
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//回零操作
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private async void Bt_Home_Click(object sender, RoutedEventArgs e)
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private async void bt_Home_Click(object sender, RoutedEventArgs e)
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{
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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?",
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"确认操作",
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@ -468,7 +469,73 @@ namespace BigProject
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}
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}
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#endregion
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#region 夹爪控制
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bool LoopReadClawAngle = false;
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private void bt_ClawHome_Click(object sender, RoutedEventArgs e)
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{
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App.Core.ArmClaw.Home();
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}
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//关闭堵转保护
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private void bt_ClawStop_Click(object sender, RoutedEventArgs e)
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{
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App.Core.ArmClaw.Stop();
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}
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//开启循环读取信息
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||||
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 托盘右键菜单
|
||||
@ -566,6 +633,9 @@ namespace BigProject
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
|
@ -243,6 +243,7 @@ namespace BigProject.Serials
|
||||
SendMsgForResult(bytes.ToArray(), out byte[] resMsg);
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 数字转化为多数组
|
||||
/// </summary>
|
||||
|
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -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;
|
||||
}
|
||||
|
@ -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;
|
||||
}
|
||||
|
85553
models/Claw/STEP/夹爪总成.STEP
Normal file
85553
models/Claw/STEP/夹爪总成.STEP
Normal file
File diff suppressed because it is too large
Load Diff
BIN
models/Claw/STL/01齿轮电机端.STL
Normal file
BIN
models/Claw/STL/01齿轮电机端.STL
Normal file
Binary file not shown.
BIN
models/Claw/STL/02双层齿轮.STL
Normal file
BIN
models/Claw/STL/02双层齿轮.STL
Normal file
Binary file not shown.
BIN
models/Claw/STL/07夹爪右.STL
Normal file
BIN
models/Claw/STL/07夹爪右.STL
Normal file
Binary file not shown.
BIN
models/Claw/STL/08夹爪主体.STL
Normal file
BIN
models/Claw/STL/08夹爪主体.STL
Normal file
Binary file not shown.
BIN
models/Claw/STL/08夹爪右.STL
Normal file
BIN
models/Claw/STL/08夹爪右.STL
Normal file
Binary file not shown.
BIN
models/Claw/STL/09夹爪主体下.STL
Normal file
BIN
models/Claw/STL/09夹爪主体下.STL
Normal file
Binary file not shown.
BIN
models/Claw/配料表.xls
Normal file
BIN
models/Claw/配料表.xls
Normal file
Binary file not shown.
Loading…
Reference in New Issue
Block a user