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https://gitee.com/dashuaibran/jyker
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更改SerialPortStream 串口工具
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@ -56,6 +56,9 @@
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<Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
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<HintPath>..\packages\Newtonsoft.Json.13.0.3\lib\net45\Newtonsoft.Json.dll</HintPath>
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</Reference>
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<Reference Include="RJCP.SerialPortStream, Version=2.4.2.0, Culture=neutral, PublicKeyToken=5f5e7b70c6a74deb, processorArchitecture=MSIL">
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<HintPath>..\packages\SerialPortStream.2.4.2\lib\net45\RJCP.SerialPortStream.dll</HintPath>
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</Reference>
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<Reference Include="Rubyer, Version=2.16.7.0, Culture=neutral, processorArchitecture=MSIL">
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<HintPath>..\packages\Rubyer.2.16.7\lib\net462\Rubyer.dll</HintPath>
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</Reference>
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@ -40,5 +40,14 @@ namespace BigProject.Config
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public double D_ELBOW { get; set; } = 70;
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public double L_FOREARM { get; set; } = 117;
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public double L_WRIST { get; set; } = 97;
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public CheckFunction checkFunction { get; set; } = CheckFunction._0X6B;
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}
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//检验方式
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public enum CheckFunction
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{
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_0X6B,
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MODBUS
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}
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}
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@ -36,7 +36,8 @@ namespace BigProject.Devices.Arm
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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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byte[] send = new byte[3] { 0x07, 0x0E, 0x52 };
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send = _armClawSerial.ReBuildData(send);
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_armClawSerial.SendMsgForResult(send, out byte[] resMsg);
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}
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@ -48,40 +49,52 @@ namespace BigProject.Devices.Arm
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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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try
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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[3] { 0x07, 0x43, 0x7A };
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send = _armClawSerial.ReBuildData(send);
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var result = _armClawSerial.SendMsgForResult(send, out byte[] resMsg);
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if (!result)
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{
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return;
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}
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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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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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//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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//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($"Angle:{Angle}--Length:{Length}--Power:{Power}");
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}
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//根据三角函数计算末端长度
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var Length = Math.Cos((180 - (Angle / 2) - CLAW_FINGER_ANGLE) / 180 * Math.PI) * CLAW_FINGER_LENTH + CLAW_FINGER_WIDTH;
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Length = Math.Round(Length * 2, 2);
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catch (Exception ex)
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{
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//根据实时相电流计算力矩大小
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var Power = (resMsg[6] * 256 + resMsg[7]) * 1.0;
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Power = Math.Round(Power, 2);
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if (Power == 0)
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{
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return;
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}
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//回调函数,让数值显示出来
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UpdateClawMsgEvent?.Invoke(Angle, Length, Power);
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//Log.Info($"Angle:{Angle}--Length:{Length}--Power:{Power}");
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}
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}
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}
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@ -14,6 +14,7 @@ using System.Collections;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement;
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using Masuit.Tools;
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using BigProject.Config;
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using System.Windows.Markup;
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namespace BigProject.Devices.Arm
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{
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@ -29,7 +30,7 @@ namespace BigProject.Devices.Arm
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public Pose6D_t currentPose6D;
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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 static event Action<double?, double?, double?, double?, double?, double?> UpdateJointAngle;
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public ArmContrl(ConfigEntity armConfig,ArmSerial armSerial)
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{
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dof6Solver = new Dof6kinematic(armConfig);
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@ -260,43 +261,14 @@ namespace BigProject.Devices.Arm
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return max;
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}
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/// <summary>
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/// 第6轴单圈回零
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/// </summary>
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public bool Arm6Homing()
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{
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int thisArmId = 6;
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//零位编码器线性值 50962
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var h = 54580;
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//获取编码器当前值
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byte[] send = new byte[3] { 0x06, 0x31, 0x6B };
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serialControl.recCount = 5;
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serialControl.SendMsgForResult(send, out byte[] resMsg);
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while (serialControl.DataReceived.Count == 0)
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{
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Thread.Sleep(50);
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}
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var rec = serialControl.DataReceived;
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if (rec.Count==5)
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{
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var t = rec[2]*256 + rec[3];
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//单圈脉冲为3200;
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var angleAbPulse = (int)Math.Abs((h - t) * 1.0 / 65536 * 3200);
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serialControl.LocationControl(thisArmId, 0, 10, Relative_Absolute: RelativeOrAbsolute.Relative,pulse:angleAbPulse, isMultiMachine: 0);
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Thread.Sleep(50);
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//设置当前位为0 位
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SendThisIsZero(thisArmId);
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}
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return true;
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}
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/// <summary>
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/// 立即停止
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/// </summary>
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public void ArmStopNow()
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{
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byte[] send = new byte[5] { 0x00, 0xFE, 0x98, 0x00, 0x6B };
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serialControl.SendMsgForResult(send, out byte[] resMsg);
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byte[] send = new byte[4] { 0x00, 0xFE, 0x98, 0x00 };
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var re =serialControl.ReBuildData(send);
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serialControl.SendMsgForResult(re, out byte[] resMsg);
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}
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/// <summary>
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@ -305,9 +277,10 @@ namespace BigProject.Devices.Arm
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public void SendThisIsZero(int addr)
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{
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//01 0A 6D 6B
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byte[] send = new byte[4] { 0x00, 0x0A ,0x6D, 0x6B };
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byte[] send = new byte[3] { 0x00, 0x0A ,0x6D };
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send[0] = (byte)addr;
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serialControl.SendMsgForResult(send, out byte[] resMsg);
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var re = serialControl.ReBuildData(send);
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serialControl.SendMsgForResult(re, out byte[] resMsg);
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}
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/// <summary>
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@ -318,10 +291,11 @@ namespace BigProject.Devices.Arm
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public bool GetCurrentAngle(int addr, CtrlStepMotor ctrlStep,out double angle)
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{
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angle = 0;
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byte[] data = new byte[3] { (byte)addr, 0x36, 0x6B };
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var res =serialControl.SendMsgForResult(data, out byte[] result,8);
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byte[] data = new byte[2] { (byte)addr, 0x36 };
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var re = serialControl.ReBuildData(data);
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var res =serialControl.SendMsgForResult(re, out byte[] result);
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if(!res)
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{
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{
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return false;
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}
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if (result[1] == 0x00 && result[2] == 0xee)
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@ -364,8 +338,9 @@ namespace BigProject.Devices.Arm
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public bool SetIfEnable(int addr,bool status)
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{
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int flag = status ? 1 : 0;
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byte[] data = new byte[6] { (byte)addr, 0xF3, 0xAB, (byte)flag, 0x00, 0x6B };
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var res = serialControl.SendMsgForResult(data, out byte[] result, 4);
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byte[] data = new byte[5] { (byte)addr, 0xF3, 0xAB, (byte)flag, 0x00 };
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var re = serialControl.ReBuildData(data);
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var res = serialControl.SendMsgForResult(re, out byte[] result);
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if (!res)
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{
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return false;
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@ -388,8 +363,9 @@ namespace BigProject.Devices.Arm
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{
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for (int i = 0; i < 6; i++)
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{
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byte[] data = new byte[3] { (byte)(i+1), 0x35, 0x6B };
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var res = serialControl.SendMsgForResult(data, out byte[] result, 6);
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byte[] data = new byte[2] { (byte)(i+1), 0x35 };
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var re = serialControl.ReBuildData(data);
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var res = serialControl.SendMsgForResult(re, out byte[] result);
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if (!res)
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{
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return false;
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@ -407,5 +383,62 @@ namespace BigProject.Devices.Arm
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}
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return true;
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}
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//读取电机力矩值
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private bool ReadPower(int addr,out double outValue)
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{
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outValue = 0;
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try
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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[3] { (byte)addr, 0x43, 0x7A };
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var re = serialControl.ReBuildData(send);
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var result = serialControl.SendMsgForResult(re, out byte[] resMsg);
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if (!result)
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{
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return false;
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}
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if (resMsg[1] == 0x00 && resMsg[2] == 0xEE)
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{
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return false;
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}
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if (resMsg[0] != addr)
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{
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return false;
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}
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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 false;
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}
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outValue = Power;
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return true;
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}
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catch (Exception ex)
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{
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Log.Error(ex);
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return false;
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}
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}
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public void ReadSixPower()
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{
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double?[] values = new double?[6];
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for (int i = 1; i <= 6; i++)
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{
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if (ReadPower(i, out double vaule))
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{
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values[i - 1] = vaule;
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}
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else
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{
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values[i - 1] = null;
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}
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}
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UpdateJointAngle?.Invoke(values[0], values[1], values[2], values[3], values[4], values[5]);
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}
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}
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}
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@ -13,17 +13,5 @@ namespace BigProject.Devices.Arm
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public ArmLed() {
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DeviceType = DeviceType.ArmLed;
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}
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//开启机械臂的灯
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public void Open()
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{
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App.Core.ArmSerial.LedOpen();
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}
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//关闭机械臂的灯
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public void Close()
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{
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App.Core.ArmSerial.LedClose();
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}
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}
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}
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@ -9,7 +9,7 @@ xmlns:local="clr-namespace:BigProject.Dialogs"
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mc:Ignorable="d"
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Title="系统设置" Height="600" Width="700">
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<Grid rubyer:GridHelper.ColumnDefinitions="300,*">
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<Grid rubyer:GridHelper.RowDefinitions="40,40,40,40,40,40,50,20,*" >
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<Grid rubyer:GridHelper.RowDefinitions="40,40,40,40,40,40,40,50,20,*" >
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<Grid Grid.Row="0" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
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<TextBlock Grid.Column="0">J1减速比</TextBlock>
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<rubyer:NumericBox x:Name="tb_ReductionJ1" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ1}"/>
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@ -34,7 +34,12 @@ Title="系统设置" Height="600" Width="700">
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<TextBlock Grid.Column="0">J6减速比</TextBlock>
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<rubyer:NumericBox x:Name="tb_ReductionJ6" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ6}"/>
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</Grid>
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<Grid Grid.Row="6" rubyer:GridHelper.ColumnDefinitions="*,*">
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<Grid Grid.Row="6" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
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<TextBlock Grid.Column="0">校验协议</TextBlock>
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<ComboBox Grid.Column="1" x:Name="cb_CheckFuntion" SelectedValue="{Binding checkFunction}"/>
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</Grid>
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<Grid Grid.Row="7" rubyer:GridHelper.ColumnDefinitions="*,*">
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<Button Margin="3,8" Grid.Column="1" x:Name="EnterOK" Click="EnterOK_Click" >
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<StackPanel rubyer:PanelHelper.Spacing="8" Orientation="Horizontal" >
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<TextBlock FontSize="12" Text="应用" />
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@ -31,7 +31,6 @@ namespace BigProject.Dialogs
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//加载
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private void ConfigDialog_Loaded(object sender, RoutedEventArgs e)
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{
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}
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private void EnterOK_Click(object sender, RoutedEventArgs e)
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@ -37,7 +37,7 @@
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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="300,300,*">
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<Grid Grid.Column="1" rubyer:GridHelper.RowDefinitions="300,200,*">
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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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@ -109,6 +109,47 @@
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</Grid>
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</Grid>
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</GroupBox>
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<GroupBox Header="力矩信息" Grid.Row="2" x:Name="gb_ArmControl" IsEnabled="False">
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<Grid rubyer:GridHelper.RowDefinitions="240,50">
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<Grid rubyer:GridHelper.RowDefinitions="40,40,40,40,40,40,40" rubyer:GridHelper.ColumnDefinitions="40,200,50">
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<TextBlock Grid.Column="0" Grid.Row="0">J1:</TextBlock>
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<ProgressBar Grid.Column="1" Grid.Row="0" Margin="0 18 0 0" Value="0" Minimum="0" Maximum="2000" x:Name="pb_pJ1"></ProgressBar>
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<TextBlock Grid.Column="2" Grid.Row="0" Margin="6" x:Name="tb_pJ1">0</TextBlock>
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<TextBlock Grid.Column="0" Grid.Row="1">J2:</TextBlock>
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<ProgressBar Grid.Column="1" Grid.Row="1" Margin="0 18 0 0" Value="0" Minimum="0" Maximum="2000" x:Name="pb_pJ2"></ProgressBar>
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<TextBlock Grid.Column="2" Grid.Row="1" Margin="6" x:Name="tb_pJ2">0</TextBlock>
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<TextBlock Grid.Column="0" Grid.Row="2">J3:</TextBlock>
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<ProgressBar Grid.Column="1" Grid.Row="2" Margin="0 18 0 0" Value="0" Minimum="0" Maximum="2000" x:Name="pb_pJ3"></ProgressBar>
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<TextBlock Grid.Column="2" Grid.Row="2" Margin="6" x:Name="tb_pJ3">0</TextBlock>
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<TextBlock Grid.Column="0" Grid.Row="3">J4:</TextBlock>
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<ProgressBar Grid.Column="1" Grid.Row="3" Margin="0 18 0 0" Value="0" Minimum="0" Maximum="2000" x:Name="pb_pJ4"></ProgressBar>
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<TextBlock Grid.Column="2" Grid.Row="3" Margin="6" x:Name="tb_pJ4">0</TextBlock>
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<TextBlock Grid.Column="0" Grid.Row="4">J5:</TextBlock>
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<ProgressBar Grid.Column="1" Grid.Row="4" Margin="0 18 0 0" Value="0" Minimum="0" Maximum="2000" x:Name="pb_pJ5"></ProgressBar>
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<TextBlock Grid.Column="2" Grid.Row="4" Margin="6" x:Name="tb_pJ5">0</TextBlock>
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<TextBlock Grid.Column="0" Grid.Row="5">J6:</TextBlock>
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<ProgressBar Grid.Column="1" Grid.Row="5" Margin="0 18 0 0" Value="0" Minimum="0" Maximum="2000" x:Name="pb_pJ6"></ProgressBar>
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<TextBlock Grid.Column="2" Grid.Row="5" Margin="6" x:Name="tb_pJ6">0</TextBlock>
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</Grid>
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<Grid rubyer:GridHelper.RowDefinitions="40" rubyer:GridHelper.ColumnDefinitions="125,125" Grid.Row="1">
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<Grid Grid.Row="0" Margin="2">
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<Button x:Name="bt_ArmLoopStart" Click="bt_ArmLoopStart_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_ArmLoopEnd" IsEnabled="False" Click="bt_ArmLoopEnd_Click">停止监视信息</Button>
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</Grid>
|
||||
</Grid>
|
||||
</Grid>
|
||||
|
||||
|
||||
</GroupBox>
|
||||
</Grid>
|
||||
<Grid Grid.Column="2" rubyer:GridHelper.RowDefinitions="100,610,*" Margin="5,2,5,5">
|
||||
|
@ -29,6 +29,7 @@ using Rubyer;
|
||||
using BigProject.JointMoveRecord;
|
||||
using System.Collections.ObjectModel;
|
||||
using BigProject.Dialogs;
|
||||
using Newtonsoft.Json.Linq;
|
||||
|
||||
namespace BigProject
|
||||
{
|
||||
@ -66,6 +67,9 @@ namespace BigProject
|
||||
//添加夹爪信息回调
|
||||
ArmClaw.UpdateClawMsgEvent+= UpdateClawMsg;
|
||||
|
||||
//添加机械臂信息回调
|
||||
ArmContrl.UpdateJointAngle += UpdateArmMsg;
|
||||
|
||||
//赋值当前角度位置
|
||||
//MainWindow_UpdateJointAngle();
|
||||
|
||||
@ -132,10 +136,9 @@ namespace BigProject
|
||||
|
||||
}
|
||||
//循环运动机械臂
|
||||
bool JointLoopIsRun = false;
|
||||
CancellationTokenSource cts;
|
||||
private void bt_MoveLoop_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
if (JointLoopIsRun) return;
|
||||
var motorJ = App.Core.ArmContrl.motorJ;
|
||||
for (int i = 0; i < motorJ.Length; i++)
|
||||
{
|
||||
@ -148,14 +151,18 @@ namespace BigProject
|
||||
{
|
||||
Log.Info($"夹爪设置使能状态失败");
|
||||
}
|
||||
JointLoopIsRun = true;
|
||||
cts = new CancellationTokenSource();
|
||||
var runCicleToken = cts.Token;
|
||||
Task.Run(() => {
|
||||
while (JointLoopIsRun)
|
||||
while (true)
|
||||
{
|
||||
Thread.Sleep(50);
|
||||
foreach (var rec in App.Core.JointRecords)
|
||||
{
|
||||
if (!JointLoopIsRun) return;
|
||||
if(runCicleToken.IsCancellationRequested)
|
||||
{
|
||||
return;
|
||||
}
|
||||
this.Dispatcher.Invoke(() =>
|
||||
{
|
||||
dg_JointRecord.SelectedItem = rec;
|
||||
@ -170,18 +177,20 @@ namespace BigProject
|
||||
Thread.Sleep(100);
|
||||
while (!App.Core.ArmContrl.IsMoveOver())
|
||||
{
|
||||
if (!JointLoopIsRun) return;
|
||||
if (runCicleToken.IsCancellationRequested)
|
||||
{
|
||||
return;
|
||||
}
|
||||
Thread.Sleep(2000);
|
||||
}
|
||||
}
|
||||
}
|
||||
App.Core.ArmContrl.ArmStopNow();
|
||||
});
|
||||
}, runCicleToken);
|
||||
}
|
||||
//停止循环
|
||||
private void bt_MoveLoopStop_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
JointLoopIsRun = false;
|
||||
cts.Cancel();
|
||||
}
|
||||
//删除记录
|
||||
private void bt_DeleteRecord_Click(object sender, RoutedEventArgs e)
|
||||
@ -259,8 +268,8 @@ namespace BigProject
|
||||
{
|
||||
//查看是否存在机械臂
|
||||
var armConnected = false;
|
||||
var res =App.Core.ArmSerial.SendMsgForResult(new byte[3] { 0x01, 0x33, 0x6b },out byte[] resMsg);
|
||||
Thread.Sleep(500);
|
||||
var re = App.Core.ArmSerial.ReBuildData(new byte[2] { 0x01, 0x33 });
|
||||
var res = App.Core.ArmSerial.SendMsgForResult(re, out byte[] resMsg);
|
||||
if (res&&resMsg[0] > 0)
|
||||
{
|
||||
Log.Info($"{item}连接成功,找到jyker机械臂");
|
||||
@ -268,6 +277,7 @@ namespace BigProject
|
||||
cb_ComList.SelectedItem = item;
|
||||
bt_LinkAuto.IsEnabled = false;
|
||||
cb_ComList.IsEnabled = false;
|
||||
gb_ArmControl.IsEnabled = true;
|
||||
bt_Link.Content = "断开连接";
|
||||
SetButtomState(true);
|
||||
armConnected = true;
|
||||
@ -275,9 +285,11 @@ namespace BigProject
|
||||
MainWindow_UpdateJointAngle();
|
||||
});
|
||||
}
|
||||
Thread.Sleep(100);
|
||||
//夹爪连接
|
||||
var clawConnected = false;
|
||||
var resClaw = App.Core.ArmSerial.SendMsgForResult(new byte[3] { 0x07, 0x33, 0x6b }, out byte[] resMsgClaw);
|
||||
var re1 = App.Core.ArmSerial.ReBuildData(new byte[2] { 0x07, 0x33 });
|
||||
var resClaw = App.Core.ArmSerial.SendMsgForResult(re1, out byte[] resMsgClaw);
|
||||
if (resClaw && resMsgClaw[0] > 0)
|
||||
{
|
||||
clawConnected = true;
|
||||
@ -329,6 +341,7 @@ namespace BigProject
|
||||
//读取位置信息并赋值
|
||||
MainWindow_UpdateJointAngle();
|
||||
gb_ClawControl.IsEnabled = true;
|
||||
gb_ArmControl.IsEnabled = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -493,7 +506,7 @@ namespace BigProject
|
||||
{
|
||||
LoopReadClawAngle = true;
|
||||
bt_ClawLoopStart.IsEnabled = false;
|
||||
bt_ClawStop.IsEnabled = true;
|
||||
bt_ClawLoopEnd.IsEnabled = true;
|
||||
Task.Run(() => {
|
||||
|
||||
while (LoopReadClawAngle)
|
||||
@ -509,7 +522,7 @@ namespace BigProject
|
||||
{
|
||||
LoopReadClawAngle = false;
|
||||
bt_ClawLoopStart.IsEnabled = true;
|
||||
bt_ClawStop.IsEnabled = false;
|
||||
bt_ClawLoopEnd.IsEnabled = false;
|
||||
}
|
||||
//设置夹爪角度
|
||||
private void pg_ClawAngle_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
|
||||
@ -631,18 +644,26 @@ namespace BigProject
|
||||
int richTextLine = 0;
|
||||
private void Log_MessageEvent(string text)
|
||||
{
|
||||
var str = $"{DateTime.Now.ToString("HH:mm:ss")}:{text}\n";
|
||||
this.Dispatcher.Invoke(() =>
|
||||
try
|
||||
{
|
||||
tbLog.AppendText(str);
|
||||
tbLog.ScrollToEnd();
|
||||
if (richTextLine >= 3000)
|
||||
var str = $"{DateTime.Now.ToString("HH:mm:ss")}:{text}\n";
|
||||
this.Dispatcher.Invoke(() =>
|
||||
{
|
||||
tbLog.Text = string.Empty;
|
||||
richTextLine = 0;
|
||||
}
|
||||
richTextLine++;
|
||||
});
|
||||
tbLog.AppendText(str);
|
||||
tbLog.ScrollToEnd();
|
||||
if (richTextLine >= 3000)
|
||||
{
|
||||
tbLog.Text = string.Empty;
|
||||
richTextLine = 0;
|
||||
}
|
||||
richTextLine++;
|
||||
});
|
||||
}
|
||||
catch (Exception)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -661,5 +682,76 @@ namespace BigProject
|
||||
}
|
||||
#endregion
|
||||
|
||||
#region 机械臂力矩监控
|
||||
bool LoopReadArmAngle;
|
||||
private void bt_ArmLoopStart_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
LoopReadArmAngle = true;
|
||||
bt_ArmLoopStart.IsEnabled = false;
|
||||
bt_ArmLoopEnd.IsEnabled = true;
|
||||
Task.Run(() => {
|
||||
|
||||
while (LoopReadArmAngle)
|
||||
{
|
||||
App.Core.ArmContrl.ReadSixPower();
|
||||
Thread.Sleep(50);
|
||||
}
|
||||
|
||||
});
|
||||
}
|
||||
|
||||
private void bt_ArmLoopEnd_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
LoopReadArmAngle = false;
|
||||
bt_ArmLoopStart.IsEnabled = true;
|
||||
bt_ArmLoopEnd.IsEnabled = false;
|
||||
}
|
||||
|
||||
private void UpdateArmMsg(double? J1,double? J2, double? J3, double? J4, double? J5, double? J6)
|
||||
{
|
||||
this.Dispatcher.BeginInvoke(new Action(() =>
|
||||
{
|
||||
try
|
||||
{
|
||||
if(J1!=null)
|
||||
{
|
||||
pb_pJ1.Value = J1.Value;
|
||||
tb_pJ1.Text = Math.Round(J1.Value, 2) + "";
|
||||
};
|
||||
if (J2 != null)
|
||||
{
|
||||
pb_pJ2.Value = J2.Value;
|
||||
tb_pJ2.Text = Math.Round(J2.Value, 2) + "";
|
||||
};
|
||||
if (J3 != null)
|
||||
{
|
||||
pb_pJ3.Value = J3.Value;
|
||||
tb_pJ3.Text = Math.Round(J3.Value, 2) + "";
|
||||
};
|
||||
if (J4 != null)
|
||||
{
|
||||
pb_pJ4.Value = J4.Value;
|
||||
tb_pJ4.Text = Math.Round(J4.Value, 2) + "";
|
||||
};
|
||||
if (J5 != null)
|
||||
{
|
||||
pb_pJ5.Value = J5.Value;
|
||||
tb_pJ5.Text = Math.Round(J5.Value, 2) + "";
|
||||
};
|
||||
if (J6 != null)
|
||||
{
|
||||
pb_pJ6.Value = J6.Value;
|
||||
tb_pJ6.Text = Math.Round(J6.Value, 2) + "";
|
||||
};
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
Log.Error(e);
|
||||
}
|
||||
|
||||
}));
|
||||
}
|
||||
#endregion
|
||||
|
||||
}
|
||||
}
|
||||
|
@ -1,7 +1,12 @@
|
||||
using BigProject.Devices.Arm;
|
||||
using BigProject.Config;
|
||||
using BigProject.Devices.Arm;
|
||||
using BigProject.Logger;
|
||||
using Castle.DynamicProxy;
|
||||
using Masuit.Tools;
|
||||
using RJCP.IO.Ports;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.IO;
|
||||
using System.IO.Ports;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
@ -13,25 +18,19 @@ namespace BigProject.Serials
|
||||
{
|
||||
public class ArmSerial
|
||||
{
|
||||
private int LightBrightness = 0;
|
||||
//返回的字节个数
|
||||
public int recCount = 8;
|
||||
public List<byte> DataReceived = new List<byte>();
|
||||
private System.IO.Ports.SerialPort serialPort1 = new System.IO.Ports.SerialPort();
|
||||
//串口工具
|
||||
private SerialPortStream stream;
|
||||
public ArmSerial(string name1,out bool OpenResult)
|
||||
{
|
||||
try
|
||||
{
|
||||
if (!serialPort1.IsOpen)
|
||||
if (stream!=null&&stream.IsOpen)
|
||||
{
|
||||
serialPort1.BaudRate = 115200;
|
||||
serialPort1.PortName = name1;
|
||||
serialPort1.Open();
|
||||
serialPort1.ReadTimeout = 500; // 设置读取超时时间(毫秒)
|
||||
serialPort1.WriteTimeout = 500; // 设置写入超时时间(毫秒)
|
||||
//serialPort1.DataReceived += SerialPort1_DataReceived;
|
||||
|
||||
stream.Dispose();
|
||||
}
|
||||
stream = new SerialPortStream(name1, 115200, 8, RJCP.IO.Ports.Parity.None, RJCP.IO.Ports.StopBits.One);
|
||||
stream.ReadTimeout = 1000;
|
||||
stream.Open();
|
||||
OpenResult = true;
|
||||
}
|
||||
catch (Exception)
|
||||
@ -44,91 +43,38 @@ namespace BigProject.Serials
|
||||
|
||||
public bool SerialDispose()
|
||||
{
|
||||
serialPort1.Close();
|
||||
stream.Close();
|
||||
return true;
|
||||
}
|
||||
|
||||
//开启机械臂灯光
|
||||
public void LedOpen()
|
||||
public bool SendMsgForResult(byte[] msg ,out byte[] recMsg)
|
||||
{
|
||||
LightBrightness = 10;
|
||||
SendMsgForResult(new byte[] { 0xFF, 0xFF, 0, 0, 0, 10,0x6B }, out byte[] msg);
|
||||
}
|
||||
|
||||
//关闭机械臂灯光
|
||||
public void LedClose()
|
||||
{
|
||||
LightBrightness = 0;
|
||||
SendMsgForResult(new byte[] { 0xFF, 0xFF, 0, 0, 0, 0, 0x6B }, out byte[] msg);
|
||||
}
|
||||
|
||||
public void CtrClaw(int angleA, int angleB,int angleC)
|
||||
{
|
||||
SendMsgForResult(new byte[] { 0xFF, 0xFF, (byte)angleA, (byte)angleB, (byte)angleC, (byte)LightBrightness, 0x6B },out byte[] msg);
|
||||
}
|
||||
|
||||
//接收byte数据
|
||||
private void SerialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
|
||||
{
|
||||
SerialPort sp = (SerialPort)sender;
|
||||
byte[] rec = new byte[1024];
|
||||
int lenth = sp.Read(rec, 0, 1024);
|
||||
if (lenth>100)
|
||||
{
|
||||
return;
|
||||
}
|
||||
DataReceived.AddRange(rec);
|
||||
}
|
||||
|
||||
//发送数据
|
||||
public void SendMsgOnly(byte[] msg)
|
||||
{
|
||||
DataReceived.Clear();
|
||||
string x = "";
|
||||
for (int i = 0;i < msg.Length;i++)
|
||||
{
|
||||
x+= msg[i].ToString("x2")+" ";
|
||||
}
|
||||
Log.Info($"数据发送_{x}");
|
||||
if (serialPort1.IsOpen)
|
||||
serialPort1.Write(msg, 0, msg.Length);
|
||||
}
|
||||
|
||||
public bool SendMsgForResult(byte[] msg ,out byte[] recMsg, int readLenth=128)
|
||||
{
|
||||
recMsg = new byte[readLenth];
|
||||
recMsg = new byte[msg.Length];
|
||||
try
|
||||
{
|
||||
string x = "";
|
||||
for (int i = 0; i < msg.Length; i++)
|
||||
{
|
||||
x += msg[i].ToString("x2") + " ";
|
||||
}
|
||||
//Log.Info($"数据发送_{x}");
|
||||
if (!serialPort1.IsOpen)
|
||||
stream.Write(msg, 0, msg.Length);
|
||||
byte[] buffer = new byte[1024];
|
||||
int bytesRead;
|
||||
bytesRead = stream.Read(buffer, 0, buffer.Length);
|
||||
if(bytesRead==0)
|
||||
{
|
||||
return false;
|
||||
|
||||
}
|
||||
serialPort1.Write(msg, 0, msg.Length);
|
||||
Thread.Sleep(20);
|
||||
serialPort1.Read(recMsg, 0, recMsg.Length);
|
||||
Thread.Sleep(20);
|
||||
string y = "";
|
||||
for (int i = 0; i < recMsg.Length; i++)
|
||||
{
|
||||
y += recMsg[i].ToString("x2") + " ";
|
||||
}
|
||||
//Log.Info($"数据返回_{y}");
|
||||
recMsg = buffer.Take(bytesRead).ToArray();
|
||||
//string z = "";
|
||||
//for (int i = 0; i < recMsg.Length; i++)
|
||||
//{
|
||||
// z += recMsg[i].ToString("x2") + " ";
|
||||
//}
|
||||
//Log.Info($"数据接收z_{z}");
|
||||
return true;
|
||||
}
|
||||
catch (System.TimeoutException)
|
||||
catch (Exception e)
|
||||
{
|
||||
Log.Info(e.Message);
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//多圈堵转回零
|
||||
public bool Zero(int addr = 1)
|
||||
{
|
||||
@ -187,9 +133,9 @@ namespace BigProject.Serials
|
||||
//上电自动触发回零
|
||||
bytes.Add((byte)AutoZero);
|
||||
//校验位
|
||||
bytes.AddRange(new byte[] { 0x6B });
|
||||
var re =ReBuildData(bytes.ToArray());
|
||||
//发送命令
|
||||
SendMsgForResult(bytes.ToArray(),out byte[] resMsg);
|
||||
SendMsgForResult(re,out byte[] resMsg);
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -227,9 +173,9 @@ namespace BigProject.Serials
|
||||
//是否多机同步
|
||||
bytes.Add((byte)isMultiMachine);
|
||||
//校验位
|
||||
bytes.AddRange(new byte[] { 0x6B });
|
||||
var re = ReBuildData(bytes.ToArray());
|
||||
//发送命令
|
||||
SendMsgForResult(bytes.ToArray(), out byte[] resMsg);
|
||||
SendMsgForResult(re, out byte[] resMsg);
|
||||
|
||||
}
|
||||
|
||||
@ -238,9 +184,10 @@ namespace BigProject.Serials
|
||||
/// </summary>
|
||||
public void CallMotion()
|
||||
{
|
||||
byte[] bytes = new byte[4] { 0x00, 0xFF, 0x66, 0x6B };
|
||||
byte[] bytes = new byte[3] { 0x00, 0xFF, 0x66 };
|
||||
var re = ReBuildData(bytes.ToArray());
|
||||
//发送命令
|
||||
SendMsgForResult(bytes.ToArray(), out byte[] resMsg);
|
||||
SendMsgForResult(re, out byte[] resMsg);
|
||||
}
|
||||
|
||||
|
||||
@ -272,6 +219,29 @@ namespace BigProject.Serials
|
||||
return bytes;
|
||||
}
|
||||
|
||||
//根据选择的验证方式重新整理发送内容
|
||||
public byte[] ReBuildData(byte[] input)
|
||||
{
|
||||
List<byte> bytes = new List<byte>();
|
||||
switch (App.Core.ArmConfig.checkFunction)
|
||||
{
|
||||
case Config.CheckFunction.MODBUS:
|
||||
bytes.AddRange(input);
|
||||
bytes.AddRange(CRC16(input));
|
||||
return bytes.ToArray();
|
||||
case Config.CheckFunction._0X6B:
|
||||
bytes.AddRange(input);
|
||||
bytes.Add(0x6B);
|
||||
return bytes.ToArray();
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return input;
|
||||
|
||||
|
||||
}
|
||||
|
||||
#region CRC 校验运算
|
||||
//CRC16
|
||||
public byte[] CRC16(byte[] data)
|
||||
{
|
||||
@ -295,6 +265,58 @@ namespace BigProject.Serials
|
||||
}
|
||||
return new byte[] { 0, 0 };
|
||||
}
|
||||
|
||||
List<byte[]> ParseMixedModbusRtu(byte[] data)
|
||||
{
|
||||
List<byte[]> messages = new List<byte[]>();
|
||||
int index = 0;
|
||||
|
||||
while (index < data.Length)
|
||||
{
|
||||
if (data.Length - index < 4) break; // At least need address, function code, and CRC
|
||||
|
||||
// Find the end of message by searching for a valid CRC
|
||||
bool foundValidMessage = false;
|
||||
for (int i = index + 4; i <= data.Length; i += 1) // Start from index+4 to ensure at least one byte for data
|
||||
{
|
||||
byte[] potentialMessage = new byte[i - index];
|
||||
Array.Copy(data, index, potentialMessage, 0, i - index);
|
||||
|
||||
ushort crcReceived = (ushort)((potentialMessage[potentialMessage.Length - 2] ) | potentialMessage[potentialMessage.Length - 1] << 8);
|
||||
ushort crcCalculated = CalculateCRC16(potentialMessage, 0, potentialMessage.Length - 2);
|
||||
|
||||
if (crcReceived == crcCalculated&&crcReceived!=0)
|
||||
{
|
||||
messages.Add(potentialMessage);
|
||||
index = i;
|
||||
foundValidMessage = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!foundValidMessage) break; // No valid message found, exit loop
|
||||
}
|
||||
|
||||
return messages;
|
||||
}
|
||||
|
||||
ushort CalculateCRC16(byte[] data, int offset, int length)
|
||||
{
|
||||
ushort crc = 0xFFFF;
|
||||
|
||||
|
||||
for (int pos = offset; pos < offset + length; pos++)
|
||||
{
|
||||
crc = (ushort)(crc ^ (data[pos]));
|
||||
for (int j = 0; j < 8; j++)
|
||||
{
|
||||
crc = (crc & 1) != 0 ? (ushort)((crc >> 1) ^ 0xA001) : (ushort)(crc >> 1);
|
||||
}
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
#endregion
|
||||
|
||||
}
|
||||
|
||||
//运动模式
|
||||
|
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1 +1 @@
|
||||
3f1b242b1fd2030145eb3017cb1ae743f59da855
|
||||
18b09c447cfa0e5b9df6bd4f4a5de266f4864645
|
||||
|
@ -104,3 +104,6 @@ D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug
|
||||
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.pdb
|
||||
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\Dialogs\ConfigDialog.g.cs
|
||||
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\Dialogs\ConfigDialog.baml
|
||||
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\RJCP.SerialPortStream.dll
|
||||
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\RJCP.SerialPortStream.pdb
|
||||
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\RJCP.SerialPortStream.xml
|
||||
|
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -13,7 +13,7 @@ D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml
|
||||
22021037608
|
||||
11221526090
|
||||
231814548399
|
||||
36-144057187
|
||||
371960579550
|
||||
Dialogs\ConfigDialog.xaml;MainWindow.xaml;
|
||||
|
||||
False
|
||||
|
@ -13,7 +13,7 @@ D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml
|
||||
22021037608
|
||||
11221526090
|
||||
24-267540219
|
||||
36-144057187
|
||||
371960579550
|
||||
Dialogs\ConfigDialog.xaml;MainWindow.xaml;
|
||||
|
||||
True
|
||||
|
@ -1,5 +1,5 @@
|
||||
|
||||
FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml;;
|
||||
FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\MainWindow.xaml;;
|
||||
FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\Dialogs\ConfigDialog.xaml;;
|
||||
FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\MainWindow.xaml;;
|
||||
|
||||
|
Binary file not shown.
Binary file not shown.
@ -1,4 +1,4 @@
|
||||
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "F5DD72F16D68E4F0E6DBCCC8F6159A9ACE9E25AAB6E92C6610282B857FEC769B"
|
||||
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "09AAE9EA592DD6EBFD2973574989360EC3B1DE396ED87A3ED0223A48FDB87157"
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// 此代码由工具生成。
|
||||
@ -171,9 +171,49 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 113 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.GroupBox gb_ArmControl;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 118 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ1;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 119 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBlock tb_pJ1;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 122 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ2;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 123 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ComboBox cb_ComList;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ2;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 126 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ3;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -181,39 +221,71 @@ namespace BigProject {
|
||||
|
||||
#line 127 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_Link;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ3;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 128 "..\..\MainWindow.xaml"
|
||||
#line 130 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_LinkAuto;
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ4;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 140 "..\..\MainWindow.xaml"
|
||||
#line 131 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_X;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ4;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 148 "..\..\MainWindow.xaml"
|
||||
#line 134 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Y;
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ5;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 156 "..\..\MainWindow.xaml"
|
||||
#line 135 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Z;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ5;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 138 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ6;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 139 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBlock tb_pJ6;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 144 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_ArmLoopStart;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 147 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_ArmLoopEnd;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -221,23 +293,31 @@ namespace BigProject {
|
||||
|
||||
#line 164 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_A;
|
||||
internal System.Windows.Controls.ComboBox cb_ComList;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 172 "..\..\MainWindow.xaml"
|
||||
#line 168 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_B;
|
||||
internal System.Windows.Controls.Button bt_Link;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 180 "..\..\MainWindow.xaml"
|
||||
#line 169 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_C;
|
||||
internal System.Windows.Controls.Button bt_LinkAuto;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 181 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_X;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -245,7 +325,7 @@ namespace BigProject {
|
||||
|
||||
#line 189 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint1;
|
||||
internal System.Windows.Controls.TextBox tb_Y;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -253,7 +333,7 @@ namespace BigProject {
|
||||
|
||||
#line 197 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint2;
|
||||
internal System.Windows.Controls.TextBox tb_Z;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -261,7 +341,7 @@ namespace BigProject {
|
||||
|
||||
#line 205 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint3;
|
||||
internal System.Windows.Controls.TextBox tb_A;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -269,7 +349,7 @@ namespace BigProject {
|
||||
|
||||
#line 213 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint4;
|
||||
internal System.Windows.Controls.TextBox tb_B;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -277,13 +357,53 @@ namespace BigProject {
|
||||
|
||||
#line 221 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_C;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 230 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint1;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 238 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint2;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 246 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint3;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 254 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint4;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 262 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint5;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 229 "..\..\MainWindow.xaml"
|
||||
#line 270 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint6;
|
||||
|
||||
@ -291,7 +411,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 234 "..\..\MainWindow.xaml"
|
||||
#line 275 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_Home;
|
||||
|
||||
@ -299,7 +419,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 237 "..\..\MainWindow.xaml"
|
||||
#line 278 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_StopNow;
|
||||
|
||||
@ -307,7 +427,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 242 "..\..\MainWindow.xaml"
|
||||
#line 283 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_FK;
|
||||
|
||||
@ -315,7 +435,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 245 "..\..\MainWindow.xaml"
|
||||
#line 286 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_IK;
|
||||
|
||||
@ -323,7 +443,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 250 "..\..\MainWindow.xaml"
|
||||
#line 291 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveJoint;
|
||||
|
||||
@ -331,7 +451,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 253 "..\..\MainWindow.xaml"
|
||||
#line 294 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_GetCurrentAngle;
|
||||
|
||||
@ -339,7 +459,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 258 "..\..\MainWindow.xaml"
|
||||
#line 299 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveArmHand;
|
||||
|
||||
@ -347,7 +467,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 261 "..\..\MainWindow.xaml"
|
||||
#line 302 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_AddRecord;
|
||||
|
||||
@ -355,7 +475,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 266 "..\..\MainWindow.xaml"
|
||||
#line 307 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveLoop;
|
||||
|
||||
@ -363,7 +483,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 269 "..\..\MainWindow.xaml"
|
||||
#line 310 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveLoopStop;
|
||||
|
||||
@ -371,7 +491,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 274 "..\..\MainWindow.xaml"
|
||||
#line 315 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_DeleteRecord;
|
||||
|
||||
@ -379,7 +499,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 280 "..\..\MainWindow.xaml"
|
||||
#line 321 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tbLog;
|
||||
|
||||
@ -507,162 +627,219 @@ namespace BigProject {
|
||||
this.tb_ClawPower = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 17:
|
||||
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
|
||||
this.gb_ArmControl = ((System.Windows.Controls.GroupBox)(target));
|
||||
return;
|
||||
case 18:
|
||||
this.pb_pJ1 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 19:
|
||||
this.tb_pJ1 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 20:
|
||||
this.pb_pJ2 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 21:
|
||||
this.tb_pJ2 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 22:
|
||||
this.pb_pJ3 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 23:
|
||||
this.tb_pJ3 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 24:
|
||||
this.pb_pJ4 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 25:
|
||||
this.tb_pJ4 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 26:
|
||||
this.pb_pJ5 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 27:
|
||||
this.tb_pJ5 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 28:
|
||||
this.pb_pJ6 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 29:
|
||||
this.tb_pJ6 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 30:
|
||||
this.bt_ArmLoopStart = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 144 "..\..\MainWindow.xaml"
|
||||
this.bt_ArmLoopStart.Click += new System.Windows.RoutedEventHandler(this.bt_ArmLoopStart_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 31:
|
||||
this.bt_ArmLoopEnd = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 147 "..\..\MainWindow.xaml"
|
||||
this.bt_ArmLoopEnd.Click += new System.Windows.RoutedEventHandler(this.bt_ArmLoopEnd_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 32:
|
||||
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
|
||||
return;
|
||||
case 33:
|
||||
this.bt_Link = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 127 "..\..\MainWindow.xaml"
|
||||
#line 168 "..\..\MainWindow.xaml"
|
||||
this.bt_Link.Click += new System.Windows.RoutedEventHandler(this.bt_Link_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 19:
|
||||
case 34:
|
||||
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 128 "..\..\MainWindow.xaml"
|
||||
#line 169 "..\..\MainWindow.xaml"
|
||||
this.bt_LinkAuto.Click += new System.Windows.RoutedEventHandler(this.bt_LinkAuto_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 20:
|
||||
case 35:
|
||||
this.tb_X = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 21:
|
||||
case 36:
|
||||
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 22:
|
||||
case 37:
|
||||
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 23:
|
||||
case 38:
|
||||
this.tb_A = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 24:
|
||||
case 39:
|
||||
this.tb_B = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 25:
|
||||
case 40:
|
||||
this.tb_C = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 26:
|
||||
case 41:
|
||||
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 27:
|
||||
case 42:
|
||||
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 28:
|
||||
case 43:
|
||||
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 29:
|
||||
case 44:
|
||||
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 30:
|
||||
case 45:
|
||||
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 31:
|
||||
case 46:
|
||||
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 32:
|
||||
case 47:
|
||||
this.bt_Home = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 234 "..\..\MainWindow.xaml"
|
||||
#line 275 "..\..\MainWindow.xaml"
|
||||
this.bt_Home.Click += new System.Windows.RoutedEventHandler(this.bt_Home_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 33:
|
||||
case 48:
|
||||
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 237 "..\..\MainWindow.xaml"
|
||||
#line 278 "..\..\MainWindow.xaml"
|
||||
this.bt_StopNow.Click += new System.Windows.RoutedEventHandler(this.bt_StopNow_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 34:
|
||||
case 49:
|
||||
this.bt_FK = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 242 "..\..\MainWindow.xaml"
|
||||
#line 283 "..\..\MainWindow.xaml"
|
||||
this.bt_FK.Click += new System.Windows.RoutedEventHandler(this.bt_FK_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 35:
|
||||
case 50:
|
||||
this.bt_IK = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 245 "..\..\MainWindow.xaml"
|
||||
#line 286 "..\..\MainWindow.xaml"
|
||||
this.bt_IK.Click += new System.Windows.RoutedEventHandler(this.bt_IK_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 36:
|
||||
case 51:
|
||||
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 250 "..\..\MainWindow.xaml"
|
||||
#line 291 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveJoint.Click += new System.Windows.RoutedEventHandler(this.bt_MoveJoint_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 37:
|
||||
case 52:
|
||||
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 253 "..\..\MainWindow.xaml"
|
||||
#line 294 "..\..\MainWindow.xaml"
|
||||
this.bt_GetCurrentAngle.Click += new System.Windows.RoutedEventHandler(this.bt_GetCurrentAngle_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 38:
|
||||
case 53:
|
||||
this.bt_MoveArmHand = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 258 "..\..\MainWindow.xaml"
|
||||
#line 299 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveArmHand.Click += new System.Windows.RoutedEventHandler(this.bt_MoveArmHand_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 39:
|
||||
case 54:
|
||||
this.bt_AddRecord = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 261 "..\..\MainWindow.xaml"
|
||||
#line 302 "..\..\MainWindow.xaml"
|
||||
this.bt_AddRecord.Click += new System.Windows.RoutedEventHandler(this.bt_AddRecord_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 40:
|
||||
case 55:
|
||||
this.bt_MoveLoop = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 266 "..\..\MainWindow.xaml"
|
||||
#line 307 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveLoop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoop_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 41:
|
||||
case 56:
|
||||
this.bt_MoveLoopStop = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 269 "..\..\MainWindow.xaml"
|
||||
#line 310 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveLoopStop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoopStop_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 42:
|
||||
case 57:
|
||||
this.bt_DeleteRecord = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 274 "..\..\MainWindow.xaml"
|
||||
#line 315 "..\..\MainWindow.xaml"
|
||||
this.bt_DeleteRecord.Click += new System.Windows.RoutedEventHandler(this.bt_DeleteRecord_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 43:
|
||||
case 58:
|
||||
this.tbLog = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
}
|
||||
|
@ -1,4 +1,4 @@
|
||||
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "F5DD72F16D68E4F0E6DBCCC8F6159A9ACE9E25AAB6E92C6610282B857FEC769B"
|
||||
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "09AAE9EA592DD6EBFD2973574989360EC3B1DE396ED87A3ED0223A48FDB87157"
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// 此代码由工具生成。
|
||||
@ -171,9 +171,49 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 113 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.GroupBox gb_ArmControl;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 118 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ1;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 119 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBlock tb_pJ1;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 122 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ2;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 123 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ComboBox cb_ComList;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ2;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 126 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ3;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -181,39 +221,71 @@ namespace BigProject {
|
||||
|
||||
#line 127 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_Link;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ3;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 128 "..\..\MainWindow.xaml"
|
||||
#line 130 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_LinkAuto;
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ4;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 140 "..\..\MainWindow.xaml"
|
||||
#line 131 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_X;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ4;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 148 "..\..\MainWindow.xaml"
|
||||
#line 134 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Y;
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ5;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 156 "..\..\MainWindow.xaml"
|
||||
#line 135 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Z;
|
||||
internal System.Windows.Controls.TextBlock tb_pJ5;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 138 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.ProgressBar pb_pJ6;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 139 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBlock tb_pJ6;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 144 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_ArmLoopStart;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 147 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_ArmLoopEnd;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -221,23 +293,31 @@ namespace BigProject {
|
||||
|
||||
#line 164 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_A;
|
||||
internal System.Windows.Controls.ComboBox cb_ComList;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 172 "..\..\MainWindow.xaml"
|
||||
#line 168 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_B;
|
||||
internal System.Windows.Controls.Button bt_Link;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 180 "..\..\MainWindow.xaml"
|
||||
#line 169 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_C;
|
||||
internal System.Windows.Controls.Button bt_LinkAuto;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 181 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_X;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -245,7 +325,7 @@ namespace BigProject {
|
||||
|
||||
#line 189 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint1;
|
||||
internal System.Windows.Controls.TextBox tb_Y;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -253,7 +333,7 @@ namespace BigProject {
|
||||
|
||||
#line 197 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint2;
|
||||
internal System.Windows.Controls.TextBox tb_Z;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -261,7 +341,7 @@ namespace BigProject {
|
||||
|
||||
#line 205 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint3;
|
||||
internal System.Windows.Controls.TextBox tb_A;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -269,7 +349,7 @@ namespace BigProject {
|
||||
|
||||
#line 213 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint4;
|
||||
internal System.Windows.Controls.TextBox tb_B;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
@ -277,13 +357,53 @@ namespace BigProject {
|
||||
|
||||
#line 221 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_C;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 230 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint1;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 238 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint2;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 246 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint3;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 254 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint4;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 262 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint5;
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 229 "..\..\MainWindow.xaml"
|
||||
#line 270 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tb_Joint6;
|
||||
|
||||
@ -291,7 +411,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 234 "..\..\MainWindow.xaml"
|
||||
#line 275 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_Home;
|
||||
|
||||
@ -299,7 +419,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 237 "..\..\MainWindow.xaml"
|
||||
#line 278 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_StopNow;
|
||||
|
||||
@ -307,7 +427,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 242 "..\..\MainWindow.xaml"
|
||||
#line 283 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_FK;
|
||||
|
||||
@ -315,7 +435,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 245 "..\..\MainWindow.xaml"
|
||||
#line 286 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_IK;
|
||||
|
||||
@ -323,7 +443,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 250 "..\..\MainWindow.xaml"
|
||||
#line 291 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveJoint;
|
||||
|
||||
@ -331,7 +451,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 253 "..\..\MainWindow.xaml"
|
||||
#line 294 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_GetCurrentAngle;
|
||||
|
||||
@ -339,7 +459,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 258 "..\..\MainWindow.xaml"
|
||||
#line 299 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveArmHand;
|
||||
|
||||
@ -347,7 +467,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 261 "..\..\MainWindow.xaml"
|
||||
#line 302 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_AddRecord;
|
||||
|
||||
@ -355,7 +475,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 266 "..\..\MainWindow.xaml"
|
||||
#line 307 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveLoop;
|
||||
|
||||
@ -363,7 +483,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 269 "..\..\MainWindow.xaml"
|
||||
#line 310 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_MoveLoopStop;
|
||||
|
||||
@ -371,7 +491,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 274 "..\..\MainWindow.xaml"
|
||||
#line 315 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.Button bt_DeleteRecord;
|
||||
|
||||
@ -379,7 +499,7 @@ namespace BigProject {
|
||||
#line hidden
|
||||
|
||||
|
||||
#line 280 "..\..\MainWindow.xaml"
|
||||
#line 321 "..\..\MainWindow.xaml"
|
||||
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
|
||||
internal System.Windows.Controls.TextBox tbLog;
|
||||
|
||||
@ -507,162 +627,219 @@ namespace BigProject {
|
||||
this.tb_ClawPower = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 17:
|
||||
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
|
||||
this.gb_ArmControl = ((System.Windows.Controls.GroupBox)(target));
|
||||
return;
|
||||
case 18:
|
||||
this.pb_pJ1 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 19:
|
||||
this.tb_pJ1 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 20:
|
||||
this.pb_pJ2 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 21:
|
||||
this.tb_pJ2 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 22:
|
||||
this.pb_pJ3 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 23:
|
||||
this.tb_pJ3 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 24:
|
||||
this.pb_pJ4 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 25:
|
||||
this.tb_pJ4 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 26:
|
||||
this.pb_pJ5 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 27:
|
||||
this.tb_pJ5 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 28:
|
||||
this.pb_pJ6 = ((System.Windows.Controls.ProgressBar)(target));
|
||||
return;
|
||||
case 29:
|
||||
this.tb_pJ6 = ((System.Windows.Controls.TextBlock)(target));
|
||||
return;
|
||||
case 30:
|
||||
this.bt_ArmLoopStart = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 144 "..\..\MainWindow.xaml"
|
||||
this.bt_ArmLoopStart.Click += new System.Windows.RoutedEventHandler(this.bt_ArmLoopStart_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 31:
|
||||
this.bt_ArmLoopEnd = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 147 "..\..\MainWindow.xaml"
|
||||
this.bt_ArmLoopEnd.Click += new System.Windows.RoutedEventHandler(this.bt_ArmLoopEnd_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 32:
|
||||
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
|
||||
return;
|
||||
case 33:
|
||||
this.bt_Link = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 127 "..\..\MainWindow.xaml"
|
||||
#line 168 "..\..\MainWindow.xaml"
|
||||
this.bt_Link.Click += new System.Windows.RoutedEventHandler(this.bt_Link_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 19:
|
||||
case 34:
|
||||
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 128 "..\..\MainWindow.xaml"
|
||||
#line 169 "..\..\MainWindow.xaml"
|
||||
this.bt_LinkAuto.Click += new System.Windows.RoutedEventHandler(this.bt_LinkAuto_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 20:
|
||||
case 35:
|
||||
this.tb_X = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 21:
|
||||
case 36:
|
||||
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 22:
|
||||
case 37:
|
||||
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 23:
|
||||
case 38:
|
||||
this.tb_A = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 24:
|
||||
case 39:
|
||||
this.tb_B = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 25:
|
||||
case 40:
|
||||
this.tb_C = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 26:
|
||||
case 41:
|
||||
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 27:
|
||||
case 42:
|
||||
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 28:
|
||||
case 43:
|
||||
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 29:
|
||||
case 44:
|
||||
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 30:
|
||||
case 45:
|
||||
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 31:
|
||||
case 46:
|
||||
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
case 32:
|
||||
case 47:
|
||||
this.bt_Home = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 234 "..\..\MainWindow.xaml"
|
||||
#line 275 "..\..\MainWindow.xaml"
|
||||
this.bt_Home.Click += new System.Windows.RoutedEventHandler(this.bt_Home_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 33:
|
||||
case 48:
|
||||
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 237 "..\..\MainWindow.xaml"
|
||||
#line 278 "..\..\MainWindow.xaml"
|
||||
this.bt_StopNow.Click += new System.Windows.RoutedEventHandler(this.bt_StopNow_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 34:
|
||||
case 49:
|
||||
this.bt_FK = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 242 "..\..\MainWindow.xaml"
|
||||
#line 283 "..\..\MainWindow.xaml"
|
||||
this.bt_FK.Click += new System.Windows.RoutedEventHandler(this.bt_FK_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 35:
|
||||
case 50:
|
||||
this.bt_IK = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 245 "..\..\MainWindow.xaml"
|
||||
#line 286 "..\..\MainWindow.xaml"
|
||||
this.bt_IK.Click += new System.Windows.RoutedEventHandler(this.bt_IK_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 36:
|
||||
case 51:
|
||||
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 250 "..\..\MainWindow.xaml"
|
||||
#line 291 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveJoint.Click += new System.Windows.RoutedEventHandler(this.bt_MoveJoint_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 37:
|
||||
case 52:
|
||||
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 253 "..\..\MainWindow.xaml"
|
||||
#line 294 "..\..\MainWindow.xaml"
|
||||
this.bt_GetCurrentAngle.Click += new System.Windows.RoutedEventHandler(this.bt_GetCurrentAngle_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 38:
|
||||
case 53:
|
||||
this.bt_MoveArmHand = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 258 "..\..\MainWindow.xaml"
|
||||
#line 299 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveArmHand.Click += new System.Windows.RoutedEventHandler(this.bt_MoveArmHand_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 39:
|
||||
case 54:
|
||||
this.bt_AddRecord = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 261 "..\..\MainWindow.xaml"
|
||||
#line 302 "..\..\MainWindow.xaml"
|
||||
this.bt_AddRecord.Click += new System.Windows.RoutedEventHandler(this.bt_AddRecord_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 40:
|
||||
case 55:
|
||||
this.bt_MoveLoop = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 266 "..\..\MainWindow.xaml"
|
||||
#line 307 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveLoop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoop_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 41:
|
||||
case 56:
|
||||
this.bt_MoveLoopStop = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 269 "..\..\MainWindow.xaml"
|
||||
#line 310 "..\..\MainWindow.xaml"
|
||||
this.bt_MoveLoopStop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoopStop_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 42:
|
||||
case 57:
|
||||
this.bt_DeleteRecord = ((System.Windows.Controls.Button)(target));
|
||||
|
||||
#line 274 "..\..\MainWindow.xaml"
|
||||
#line 315 "..\..\MainWindow.xaml"
|
||||
this.bt_DeleteRecord.Click += new System.Windows.RoutedEventHandler(this.bt_DeleteRecord_Click);
|
||||
|
||||
#line default
|
||||
#line hidden
|
||||
return;
|
||||
case 43:
|
||||
case 58:
|
||||
this.tbLog = ((System.Windows.Controls.TextBox)(target));
|
||||
return;
|
||||
}
|
||||
|
@ -11,6 +11,7 @@
|
||||
<package id="Microsoft.Win32.Registry" version="5.0.0" targetFramework="net472" />
|
||||
<package id="Newtonsoft.Json" version="13.0.3" targetFramework="net472" />
|
||||
<package id="Rubyer" version="2.16.7" targetFramework="net472" />
|
||||
<package id="SerialPortStream" version="2.4.2" targetFramework="net472" />
|
||||
<package id="System.Buffers" version="4.5.1" targetFramework="net472" />
|
||||
<package id="System.Security.AccessControl" version="5.0.0" targetFramework="net472" />
|
||||
<package id="System.Security.Principal.Windows" version="5.0.0" targetFramework="net472" />
|
||||
|
Loading…
Reference in New Issue
Block a user