增加摆线减速器以及软件设置

This commit is contained in:
13763374093 2025-04-07 15:11:54 +08:00
parent 1e58d495d2
commit b33b565332
49 changed files with 70282 additions and 249 deletions

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@ -115,9 +115,10 @@
<Generator>MSBuild:Compile</Generator>
<SubType>Designer</SubType>
</ApplicationDefinition>
<Compile Include="Config\ConfigEntity.cs" />
<Compile Include="Config\ConfigResposity.cs" />
<Compile Include="Devices\Arm\ArmLed.cs" />
<Compile Include="Devices\Arm\ArmContrl.cs" />
<Compile Include="Devices\Arm\Config\ArmConfig.cs" />
<Compile Include="Devices\Arm\CtrlStep\CtrlStepMotor.cs" />
<Compile Include="Devices\Arm\ArmClaw.cs" />
<Compile Include="Devices\Arm\Kinematic\Dof6kinematic.cs" />
@ -125,10 +126,17 @@
<Compile Include="Devices\Arm\Kinematic\Models\Joint6D_t.cs" />
<Compile Include="Devices\Arm\Kinematic\Models\Pose6D_t.cs" />
<Compile Include="Devices\BaseDevice.cs" />
<Compile Include="Dialogs\ConfigDialog.xaml.cs">
<DependentUpon>ConfigDialog.xaml</DependentUpon>
</Compile>
<Compile Include="JointMoveRecord\JointRecordModel.cs" />
<Compile Include="JointMoveRecord\JointRecordRes.cs" />
<Compile Include="Logger\Log.cs" />
<Compile Include="Serials\ArmSerial.cs" />
<Page Include="Dialogs\ConfigDialog.xaml">
<SubType>Designer</SubType>
<Generator>MSBuild:Compile</Generator>
</Page>
<Page Include="MainWindow.xaml">
<Generator>MSBuild:Compile</Generator>
<SubType>Designer</SubType>

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@ -0,0 +1,44 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace BigProject.Config
{
public class ConfigEntity
{
/// <summary>
/// J1 减速比
/// </summary>
public int ReductionJ1 { get; set; } = 30;
/// <summary>
/// J2 减速比
/// </summary>
public int ReductionJ2 { get; set; } = 50;
/// <summary>
/// J3 减速比
/// </summary>
public int ReductionJ3 { get; set; } = 30;
/// <summary>
/// J4 减速比
/// </summary>
public int ReductionJ4 { get; set; } = 30;
/// <summary>
/// J5 减速比
/// </summary>
public int ReductionJ5 { get; set; } = 30;
/// <summary>
/// J6 减速比
/// </summary>
public int ReductionJ6 { get; set; } = 1;
// D_BASE = 0, L_BASE = 161.5, L_ARM = 170, D_ELBOW = 70, L_FOREARM = 117, L_WRIST = 97
public double L_BASE { get; set; } = 0;
public double D_BASE { get; set; } = 161.5;
public double L_ARM { get; set; } = 170;
public double D_ELBOW { get; set; } = 70;
public double L_FOREARM { get; set; } = 117;
public double L_WRIST { get; set; } = 97;
}
}

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@ -0,0 +1,69 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace BigProject.Config
{
public class ConfigResposity
{
private static string DataDic = "./DATA";
private static string ReadConfigFile = $"{DataDic}/Config.data";
/// <summary>
/// 读取产型数据
/// </summary>
/// <returns></returns>
public static ConfigEntity ReadConfigs()
{
lock (DataDic)
{
if (!Directory.Exists(DataDic))
{
Directory.CreateDirectory(DataDic);
}
if (!File.Exists(ReadConfigFile))
{
using (File.Create(ReadConfigFile)) { }
}
var json = File.ReadAllText(ReadConfigFile, Encoding.UTF8);
var conf = JsonConvert.DeserializeObject<ConfigEntity>(json);
if (conf == null)
{
return new ConfigEntity();
}
return conf;
}
}
/// <summary>
/// 写入产型数据
/// </summary>
/// <param name="productTypes"></param>
public static void WriteConfigs(ConfigEntity conf)
{
lock (DataDic)
{
if (!Directory.Exists(DataDic))
{
Directory.CreateDirectory(DataDic);
}
if (!File.Exists(ReadConfigFile))
{
File.Create(ReadConfigFile);
}
using (FileStream fileStream = File.Create(ReadConfigFile)) //打开文件流
{
var str = JsonConvert.SerializeObject(conf, Formatting.Indented); //序列化工程文件
byte[] by = ASCIIEncoding.UTF8.GetBytes(str); //把序列化的工程文件转成字节流
fileStream.Write(by, 0, by.Length); //字节流写入到文件
}
}
}
}
}

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@ -1,6 +1,6 @@
using BigProject.Devices;
using BigProject.Config;
using BigProject.Devices;
using BigProject.Devices.Arm;
using BigProject.Devices.Arm.Config;
using BigProject.JointMoveRecord;
using BigProject.Logger;
using BigProject.Serials;
@ -26,7 +26,7 @@ namespace BigProject
//机械臂助手
public ArmSerial ArmSerial;
//配置信息
public ArmConfig ArmConfig { get; set; }
public ConfigEntity ArmConfig { get; set; }
//机械臂控制
public ArmContrl ArmContrl { get; set; }
//夹爪控制
@ -35,7 +35,7 @@ namespace BigProject
public ObservableCollection<JointRecordModel> JointRecords = new ObservableCollection<JointRecordModel>();
public Core()
{
ArmConfig = ConfigResposity.ReadConfigs();
}
@ -48,7 +48,7 @@ namespace BigProject
Log.Info($"串口{comName}连接失败");
return false;
}
ArmConfig = new ArmConfig() { D_BASE = 0, L_BASE = 161.5, L_ARM = 170, D_ELBOW = 70, L_FOREARM = 117, L_WRIST = 97 };
ArmContrl = new ArmContrl(ArmConfig, ArmSerial);
ArmClaw = new ArmClaw(ArmSerial);
return true;

View File

@ -1,5 +1,4 @@
using BigProject.Devices.Arm.Config;
using BigProject.Devices.Arm.CtrlStep;
using BigProject.Devices.Arm.CtrlStep;
using BigProject.Devices.Arm.Kinematic.Models;
using BigProject.Devices.Arm.Kinematic;
using System;
@ -14,6 +13,7 @@ using System.IO.Ports;
using System.Collections;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using Masuit.Tools;
using BigProject.Config;
namespace BigProject.Devices.Arm
{
@ -30,16 +30,16 @@ namespace BigProject.Devices.Arm
private ArmSerial serialControl;
public event Action<double, double, double, double, double, double> UpdateJointAngle;
public ArmContrl(ArmConfig armConfig,ArmSerial armSerial)
public ArmContrl(ConfigEntity armConfig,ArmSerial armSerial)
{
dof6Solver = new Dof6kinematic(armConfig);
motorJ = new CtrlStepMotor[6] {
new CtrlStepMotor(){ AngleLimitMin =-90.1,AngleLimitMax = 90.1}
,new CtrlStepMotor(){ AngleLimitMin = -90.1,AngleLimitMax = 90.1 , Direction =1, OffsetAngle = -90,Reduction=50 }
,new CtrlStepMotor(){ AngleLimitMin = -0.1,AngleLimitMax= 180.1,OffsetAngle = 180 , Direction = 1}
,new CtrlStepMotor(){ AngleLimitMin = -0.1,AngleLimitMax = 180.1 , Direction =1}
,new CtrlStepMotor(){ AngleLimitMin = -90.1 , AngleLimitMax = 90.1}
,new CtrlStepMotor() { AngleLimitMin = -180.1,AngleLimitMax = 180.1}
new CtrlStepMotor(){ AngleLimitMin =-90.1,AngleLimitMax = 90.1,Reduction = armConfig.ReductionJ1}
,new CtrlStepMotor(){ AngleLimitMin = -90.1,AngleLimitMax = 90.1 , Direction =1, OffsetAngle = -90,Reduction = armConfig.ReductionJ2 }
,new CtrlStepMotor(){ AngleLimitMin = -0.1,AngleLimitMax= 180.1,OffsetAngle = 180 , Direction = 1,Reduction = armConfig.ReductionJ3}
,new CtrlStepMotor(){ AngleLimitMin = -0.1,AngleLimitMax = 180.1 , Direction =1,Reduction = armConfig.ReductionJ4}
,new CtrlStepMotor(){ AngleLimitMin = -90.1 , AngleLimitMax = 90.1,Reduction = armConfig.ReductionJ5}
,new CtrlStepMotor() { AngleLimitMin = -180.1,AngleLimitMax = 180.1,Reduction = armConfig.ReductionJ6}
};
serialControl = armSerial;
currentPose6D = new Pose6D_t();

View File

@ -1,18 +0,0 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace BigProject.Devices.Arm.Config
{
public class ArmConfig
{
public double L_BASE { get; set; }
public double D_BASE { get; set; }
public double L_ARM { get; set; }
public double D_ELBOW { get; set; }
public double L_FOREARM { get; set; }
public double L_WRIST { get; set; }
}
}

View File

@ -1,4 +1,4 @@
using BigProject.Devices.Arm.Config;
using BigProject.Config;
using BigProject.Devices.Arm.Kinematic.Models;
using System;
using System.Collections.Generic;
@ -26,7 +26,7 @@ namespace BigProject.Devices.Arm.Kinematic
const double M_PI = Math.PI;
const double M_PI_2 = Math.PI / 2;
ArmConfig armConfig = new ArmConfig();
ConfigEntity armConfig;
void MatMultiply(double[] _matrix1, double[] _matrix2, double[] _matrixOut
, int _m, int _l, int _n)
@ -101,7 +101,7 @@ namespace BigProject.Devices.Arm.Kinematic
_rotationM[8] = cb * cc;
}
public Dof6kinematic(ArmConfig armConfig)
public Dof6kinematic(ConfigEntity armConfig)
{
this.armConfig = armConfig;

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@ -0,0 +1,46 @@
<rubyer:RubyerWindow x:Class="BigProject.Dialogs.ConfigDialog"
xmlns:rubyer="http://rubyer.io/winfx/xaml/toolkit"
WindowStartupLocation="CenterScreen"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:local="clr-namespace:BigProject.Dialogs"
mc:Ignorable="d"
Title="系统设置" Height="600" Width="700">
<Grid rubyer:GridHelper.ColumnDefinitions="300,*">
<Grid rubyer:GridHelper.RowDefinitions="40,40,40,40,40,40,50,20,*" >
<Grid Grid.Row="0" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
<TextBlock Grid.Column="0">J1减速比</TextBlock>
<rubyer:NumericBox x:Name="tb_ReductionJ1" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ1}"/>
</Grid>
<Grid Grid.Row="1" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
<TextBlock Grid.Column="0">J2减速比</TextBlock>
<rubyer:NumericBox x:Name="tb_ReductionJ2" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ2}"/>
</Grid>
<Grid Grid.Row="2" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
<TextBlock Grid.Column="0">J3减速比</TextBlock>
<rubyer:NumericBox x:Name="tb_ReductionJ3" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ3}"/>
</Grid>
<Grid Grid.Row="3" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
<TextBlock Grid.Column="0">J4减速比</TextBlock>
<rubyer:NumericBox x:Name="tb_ReductionJ4" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ4}"/>
</Grid>
<Grid Grid.Row="4" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
<TextBlock Grid.Column="0">J5减速比</TextBlock>
<rubyer:NumericBox x:Name="tb_ReductionJ5" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ5}"/>
</Grid>
<Grid Grid.Row="5" rubyer:GridHelper.ColumnDefinitions="80,*" Margin="5">
<TextBlock Grid.Column="0">J6减速比</TextBlock>
<rubyer:NumericBox x:Name="tb_ReductionJ6" Grid.Column="1" Interval="1" NumericType="Int" Value="{Binding ReductionJ6}"/>
</Grid>
<Grid Grid.Row="6" rubyer:GridHelper.ColumnDefinitions="*,*">
<Button Margin="3,8" Grid.Column="1" x:Name="EnterOK" Click="EnterOK_Click" >
<StackPanel rubyer:PanelHelper.Spacing="8" Orientation="Horizontal" >
<TextBlock FontSize="12" Text="应用" />
</StackPanel>
</Button>
</Grid>
</Grid>
</Grid>
</rubyer:RubyerWindow>

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@ -0,0 +1,44 @@
using BigProject.Config;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Shapes;
namespace BigProject.Dialogs
{
/// <summary>
/// ConfigDialog.xaml 的交互逻辑
/// </summary>
public partial class ConfigDialog : Rubyer.RubyerWindow
{
public ConfigDialog()
{
InitializeComponent();
//加载配置项
this.DataContext = App.Core.ArmConfig;
this.Loaded += ConfigDialog_Loaded;
}
//加载
private void ConfigDialog_Loaded(object sender, RoutedEventArgs e)
{
}
private void EnterOK_Click(object sender, RoutedEventArgs e)
{
var conf = App.Core.ArmConfig;
ConfigResposity.WriteConfigs(conf);
Rubyer.MessageBoxR.Success("保存成功。");
}
}
}

View File

@ -11,6 +11,25 @@
d:DesignHeight="1024"
WindowStartupLocation="CenterScreen"
Title="JYKER" >
<rubyer:RubyerWindow.TitleBarContent>
<Menu
HorizontalAlignment="Right"
rubyer:HeaderHelper.Foreground="{DynamicResource WhiteForeground}"
rubyer:MenuHelper.IconWidth="30"
Foreground="{DynamicResource DefaultForeground}"
WindowChrome.IsHitTestVisibleInChrome="True">
<MenuItem x:Name="mt_Config" Click="mt_Config_Click">
<MenuItem.Header>
<StackPanel rubyer:PanelHelper.Spacing="8"
Orientation="Horizontal"
TextBlock.Foreground="{DynamicResource WhiteForeground}">
<rubyer:Icon Type="Settings2Fill" />
<TextBlock FontSize="16" Text="系统设置" />
</StackPanel>
</MenuItem.Header>
</MenuItem>
</Menu>
</rubyer:RubyerWindow.TitleBarContent>
<Grid rubyer:GridHelper.ColumnDefinitions="*,600,300">
<Grid Grid.Column="0" Margin="10">
<Image x:Name="ImageBig" ></Image>

View File

@ -28,6 +28,7 @@ using BigProject.Devices.Arm;
using Rubyer;
using BigProject.JointMoveRecord;
using System.Collections.ObjectModel;
using BigProject.Dialogs;
namespace BigProject
{
@ -648,8 +649,17 @@ namespace BigProject
#endregion
#region
//系统设置
private void mt_Config_Click(object sender, RoutedEventArgs e)
{
ConfigDialog configDialog = new ConfigDialog();
configDialog.ShowDialog();
}
#endregion
}
}

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@ -1 +1 @@
0af15420b0e278c1069a5fdacc65c91cac9b968d
3f1b242b1fd2030145eb3017cb1ae743f59da855

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@ -102,3 +102,5 @@ D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.CopyComplete
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.exe
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

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@ -10,11 +10,11 @@ none
false
DEBUG;TRACE
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml
1219584333
22021037608
11221526090
21631888184
231814548399
36-144057187
MainWindow.xaml;
Dialogs\ConfigDialog.xaml;MainWindow.xaml;
False

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@ -10,11 +10,11 @@ none
false
DEBUG;TRACE
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml
1219584333
22021037608
11221526090
22-1450200434
24-267540219
36-144057187
MainWindow.xaml;
Dialogs\ConfigDialog.xaml;MainWindow.xaml;
True

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@ -1,4 +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;;

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@ -1,4 +1,4 @@
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "05594C2C426FA6FCD8984E7191F7E7D7FA6099FCFD8DD14A4B3272B1ED37FFA1"
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "F5DD72F16D68E4F0E6DBCCC8F6159A9ACE9E25AAB6E92C6610282B857FEC769B"
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
@ -43,7 +43,15 @@ namespace BigProject {
public partial class MainWindow : Rubyer.RubyerWindow, System.Windows.Markup.IComponentConnector {
#line 16 "..\..\MainWindow.xaml"
#line 21 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.MenuItem mt_Config;
#line default
#line hidden
#line 35 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Image ImageBig;
@ -51,7 +59,7 @@ namespace BigProject {
#line hidden
#line 18 "..\..\MainWindow.xaml"
#line 37 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock ResultTextInPic;
@ -59,7 +67,7 @@ namespace BigProject {
#line hidden
#line 23 "..\..\MainWindow.xaml"
#line 42 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.DataGrid dg_JointRecord;
@ -67,7 +75,7 @@ namespace BigProject {
#line hidden
#line 39 "..\..\MainWindow.xaml"
#line 58 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.DataGridTextColumn AddTime;
@ -75,7 +83,7 @@ namespace BigProject {
#line hidden
#line 43 "..\..\MainWindow.xaml"
#line 62 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.GroupBox gb_ClawControl;
@ -83,7 +91,7 @@ namespace BigProject {
#line hidden
#line 47 "..\..\MainWindow.xaml"
#line 66 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawHome;
@ -91,7 +99,7 @@ namespace BigProject {
#line hidden
#line 50 "..\..\MainWindow.xaml"
#line 69 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawStop;
@ -99,7 +107,7 @@ namespace BigProject {
#line hidden
#line 53 "..\..\MainWindow.xaml"
#line 72 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopStart;
@ -107,7 +115,7 @@ namespace BigProject {
#line hidden
#line 56 "..\..\MainWindow.xaml"
#line 75 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopEnd;
@ -115,7 +123,7 @@ namespace BigProject {
#line hidden
#line 64 "..\..\MainWindow.xaml"
#line 83 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Slider pg_ClawAngle;
@ -123,7 +131,7 @@ namespace BigProject {
#line hidden
#line 67 "..\..\MainWindow.xaml"
#line 86 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawAngle;
@ -131,7 +139,7 @@ namespace BigProject {
#line hidden
#line 73 "..\..\MainWindow.xaml"
#line 92 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawLength;
@ -139,7 +147,7 @@ namespace BigProject {
#line hidden
#line 76 "..\..\MainWindow.xaml"
#line 95 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawLength;
@ -147,7 +155,7 @@ namespace BigProject {
#line hidden
#line 84 "..\..\MainWindow.xaml"
#line 103 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawPower;
@ -155,7 +163,7 @@ namespace BigProject {
#line hidden
#line 87 "..\..\MainWindow.xaml"
#line 106 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawPower;
@ -163,7 +171,7 @@ namespace BigProject {
#line hidden
#line 104 "..\..\MainWindow.xaml"
#line 123 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ComboBox cb_ComList;
@ -171,7 +179,7 @@ namespace BigProject {
#line hidden
#line 108 "..\..\MainWindow.xaml"
#line 127 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Link;
@ -179,7 +187,7 @@ namespace BigProject {
#line hidden
#line 109 "..\..\MainWindow.xaml"
#line 128 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_LinkAuto;
@ -187,7 +195,7 @@ namespace BigProject {
#line hidden
#line 121 "..\..\MainWindow.xaml"
#line 140 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_X;
@ -195,7 +203,7 @@ namespace BigProject {
#line hidden
#line 129 "..\..\MainWindow.xaml"
#line 148 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Y;
@ -203,7 +211,7 @@ namespace BigProject {
#line hidden
#line 137 "..\..\MainWindow.xaml"
#line 156 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Z;
@ -211,7 +219,7 @@ namespace BigProject {
#line hidden
#line 145 "..\..\MainWindow.xaml"
#line 164 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_A;
@ -219,7 +227,7 @@ namespace BigProject {
#line hidden
#line 153 "..\..\MainWindow.xaml"
#line 172 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_B;
@ -227,7 +235,7 @@ namespace BigProject {
#line hidden
#line 161 "..\..\MainWindow.xaml"
#line 180 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_C;
@ -235,7 +243,7 @@ namespace BigProject {
#line hidden
#line 170 "..\..\MainWindow.xaml"
#line 189 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint1;
@ -243,7 +251,7 @@ namespace BigProject {
#line hidden
#line 178 "..\..\MainWindow.xaml"
#line 197 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint2;
@ -251,7 +259,7 @@ namespace BigProject {
#line hidden
#line 186 "..\..\MainWindow.xaml"
#line 205 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint3;
@ -259,7 +267,7 @@ namespace BigProject {
#line hidden
#line 194 "..\..\MainWindow.xaml"
#line 213 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint4;
@ -267,7 +275,7 @@ namespace BigProject {
#line hidden
#line 202 "..\..\MainWindow.xaml"
#line 221 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint5;
@ -275,7 +283,7 @@ namespace BigProject {
#line hidden
#line 210 "..\..\MainWindow.xaml"
#line 229 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint6;
@ -283,7 +291,7 @@ namespace BigProject {
#line hidden
#line 215 "..\..\MainWindow.xaml"
#line 234 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Home;
@ -291,7 +299,7 @@ namespace BigProject {
#line hidden
#line 218 "..\..\MainWindow.xaml"
#line 237 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_StopNow;
@ -299,7 +307,7 @@ namespace BigProject {
#line hidden
#line 223 "..\..\MainWindow.xaml"
#line 242 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_FK;
@ -307,7 +315,7 @@ namespace BigProject {
#line hidden
#line 226 "..\..\MainWindow.xaml"
#line 245 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_IK;
@ -315,7 +323,7 @@ namespace BigProject {
#line hidden
#line 231 "..\..\MainWindow.xaml"
#line 250 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveJoint;
@ -323,7 +331,7 @@ namespace BigProject {
#line hidden
#line 234 "..\..\MainWindow.xaml"
#line 253 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_GetCurrentAngle;
@ -331,7 +339,7 @@ namespace BigProject {
#line hidden
#line 239 "..\..\MainWindow.xaml"
#line 258 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveArmHand;
@ -339,7 +347,7 @@ namespace BigProject {
#line hidden
#line 242 "..\..\MainWindow.xaml"
#line 261 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_AddRecord;
@ -347,7 +355,7 @@ namespace BigProject {
#line hidden
#line 247 "..\..\MainWindow.xaml"
#line 266 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoop;
@ -355,7 +363,7 @@ namespace BigProject {
#line hidden
#line 250 "..\..\MainWindow.xaml"
#line 269 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoopStop;
@ -363,7 +371,7 @@ namespace BigProject {
#line hidden
#line 255 "..\..\MainWindow.xaml"
#line 274 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_DeleteRecord;
@ -371,7 +379,7 @@ namespace BigProject {
#line hidden
#line 261 "..\..\MainWindow.xaml"
#line 280 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tbLog;
@ -409,243 +417,252 @@ namespace BigProject {
switch (connectionId)
{
case 1:
this.ImageBig = ((System.Windows.Controls.Image)(target));
this.mt_Config = ((System.Windows.Controls.MenuItem)(target));
#line 21 "..\..\MainWindow.xaml"
this.mt_Config.Click += new System.Windows.RoutedEventHandler(this.mt_Config_Click);
#line default
#line hidden
return;
case 2:
this.ResultTextInPic = ((System.Windows.Controls.TextBlock)(target));
this.ImageBig = ((System.Windows.Controls.Image)(target));
return;
case 3:
this.dg_JointRecord = ((System.Windows.Controls.DataGrid)(target));
this.ResultTextInPic = ((System.Windows.Controls.TextBlock)(target));
return;
case 4:
this.AddTime = ((System.Windows.Controls.DataGridTextColumn)(target));
this.dg_JointRecord = ((System.Windows.Controls.DataGrid)(target));
return;
case 5:
this.gb_ClawControl = ((System.Windows.Controls.GroupBox)(target));
this.AddTime = ((System.Windows.Controls.DataGridTextColumn)(target));
return;
case 6:
this.gb_ClawControl = ((System.Windows.Controls.GroupBox)(target));
return;
case 7:
this.bt_ClawHome = ((System.Windows.Controls.Button)(target));
#line 47 "..\..\MainWindow.xaml"
#line 66 "..\..\MainWindow.xaml"
this.bt_ClawHome.Click += new System.Windows.RoutedEventHandler(this.bt_ClawHome_Click);
#line default
#line hidden
return;
case 7:
case 8:
this.bt_ClawStop = ((System.Windows.Controls.Button)(target));
#line 50 "..\..\MainWindow.xaml"
#line 69 "..\..\MainWindow.xaml"
this.bt_ClawStop.Click += new System.Windows.RoutedEventHandler(this.bt_ClawStop_Click);
#line default
#line hidden
return;
case 8:
case 9:
this.bt_ClawLoopStart = ((System.Windows.Controls.Button)(target));
#line 53 "..\..\MainWindow.xaml"
#line 72 "..\..\MainWindow.xaml"
this.bt_ClawLoopStart.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopStart_Click);
#line default
#line hidden
return;
case 9:
case 10:
this.bt_ClawLoopEnd = ((System.Windows.Controls.Button)(target));
#line 56 "..\..\MainWindow.xaml"
#line 75 "..\..\MainWindow.xaml"
this.bt_ClawLoopEnd.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopEnd_Click);
#line default
#line hidden
return;
case 10:
case 11:
this.pg_ClawAngle = ((System.Windows.Controls.Slider)(target));
#line 64 "..\..\MainWindow.xaml"
#line 83 "..\..\MainWindow.xaml"
this.pg_ClawAngle.ValueChanged += new System.Windows.RoutedPropertyChangedEventHandler<double>(this.pg_ClawAngle_ValueChanged);
#line default
#line hidden
#line 64 "..\..\MainWindow.xaml"
#line 83 "..\..\MainWindow.xaml"
this.pg_ClawAngle.MouseUp += new System.Windows.Input.MouseButtonEventHandler(this.pg_ClawAngle_MouseUp);
#line default
#line hidden
return;
case 11:
case 12:
this.tb_ClawAngle = ((System.Windows.Controls.TextBlock)(target));
return;
case 12:
case 13:
this.pg_ClawLength = ((System.Windows.Controls.ProgressBar)(target));
return;
case 13:
case 14:
this.tb_ClawLength = ((System.Windows.Controls.TextBlock)(target));
return;
case 14:
case 15:
this.pg_ClawPower = ((System.Windows.Controls.ProgressBar)(target));
return;
case 15:
case 16:
this.tb_ClawPower = ((System.Windows.Controls.TextBlock)(target));
return;
case 16:
case 17:
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
return;
case 17:
case 18:
this.bt_Link = ((System.Windows.Controls.Button)(target));
#line 108 "..\..\MainWindow.xaml"
#line 127 "..\..\MainWindow.xaml"
this.bt_Link.Click += new System.Windows.RoutedEventHandler(this.bt_Link_Click);
#line default
#line hidden
return;
case 18:
case 19:
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
#line 109 "..\..\MainWindow.xaml"
#line 128 "..\..\MainWindow.xaml"
this.bt_LinkAuto.Click += new System.Windows.RoutedEventHandler(this.bt_LinkAuto_Click);
#line default
#line hidden
return;
case 19:
case 20:
this.tb_X = ((System.Windows.Controls.TextBox)(target));
return;
case 20:
case 21:
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
return;
case 21:
case 22:
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
return;
case 22:
case 23:
this.tb_A = ((System.Windows.Controls.TextBox)(target));
return;
case 23:
case 24:
this.tb_B = ((System.Windows.Controls.TextBox)(target));
return;
case 24:
case 25:
this.tb_C = ((System.Windows.Controls.TextBox)(target));
return;
case 25:
case 26:
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
return;
case 26:
case 27:
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
return;
case 27:
case 28:
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
return;
case 28:
case 29:
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
return;
case 29:
case 30:
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
return;
case 30:
case 31:
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
return;
case 31:
case 32:
this.bt_Home = ((System.Windows.Controls.Button)(target));
#line 215 "..\..\MainWindow.xaml"
#line 234 "..\..\MainWindow.xaml"
this.bt_Home.Click += new System.Windows.RoutedEventHandler(this.bt_Home_Click);
#line default
#line hidden
return;
case 32:
case 33:
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
#line 218 "..\..\MainWindow.xaml"
#line 237 "..\..\MainWindow.xaml"
this.bt_StopNow.Click += new System.Windows.RoutedEventHandler(this.bt_StopNow_Click);
#line default
#line hidden
return;
case 33:
case 34:
this.bt_FK = ((System.Windows.Controls.Button)(target));
#line 223 "..\..\MainWindow.xaml"
#line 242 "..\..\MainWindow.xaml"
this.bt_FK.Click += new System.Windows.RoutedEventHandler(this.bt_FK_Click);
#line default
#line hidden
return;
case 34:
case 35:
this.bt_IK = ((System.Windows.Controls.Button)(target));
#line 226 "..\..\MainWindow.xaml"
#line 245 "..\..\MainWindow.xaml"
this.bt_IK.Click += new System.Windows.RoutedEventHandler(this.bt_IK_Click);
#line default
#line hidden
return;
case 35:
case 36:
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
#line 231 "..\..\MainWindow.xaml"
#line 250 "..\..\MainWindow.xaml"
this.bt_MoveJoint.Click += new System.Windows.RoutedEventHandler(this.bt_MoveJoint_Click);
#line default
#line hidden
return;
case 36:
case 37:
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
#line 234 "..\..\MainWindow.xaml"
#line 253 "..\..\MainWindow.xaml"
this.bt_GetCurrentAngle.Click += new System.Windows.RoutedEventHandler(this.bt_GetCurrentAngle_Click);
#line default
#line hidden
return;
case 37:
case 38:
this.bt_MoveArmHand = ((System.Windows.Controls.Button)(target));
#line 239 "..\..\MainWindow.xaml"
#line 258 "..\..\MainWindow.xaml"
this.bt_MoveArmHand.Click += new System.Windows.RoutedEventHandler(this.bt_MoveArmHand_Click);
#line default
#line hidden
return;
case 38:
case 39:
this.bt_AddRecord = ((System.Windows.Controls.Button)(target));
#line 242 "..\..\MainWindow.xaml"
#line 261 "..\..\MainWindow.xaml"
this.bt_AddRecord.Click += new System.Windows.RoutedEventHandler(this.bt_AddRecord_Click);
#line default
#line hidden
return;
case 39:
case 40:
this.bt_MoveLoop = ((System.Windows.Controls.Button)(target));
#line 247 "..\..\MainWindow.xaml"
#line 266 "..\..\MainWindow.xaml"
this.bt_MoveLoop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoop_Click);
#line default
#line hidden
return;
case 40:
case 41:
this.bt_MoveLoopStop = ((System.Windows.Controls.Button)(target));
#line 250 "..\..\MainWindow.xaml"
#line 269 "..\..\MainWindow.xaml"
this.bt_MoveLoopStop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoopStop_Click);
#line default
#line hidden
return;
case 41:
case 42:
this.bt_DeleteRecord = ((System.Windows.Controls.Button)(target));
#line 255 "..\..\MainWindow.xaml"
#line 274 "..\..\MainWindow.xaml"
this.bt_DeleteRecord.Click += new System.Windows.RoutedEventHandler(this.bt_DeleteRecord_Click);
#line default
#line hidden
return;
case 42:
case 43:
this.tbLog = ((System.Windows.Controls.TextBox)(target));
return;
}

View File

@ -1,4 +1,4 @@
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "05594C2C426FA6FCD8984E7191F7E7D7FA6099FCFD8DD14A4B3272B1ED37FFA1"
#pragma checksum "..\..\MainWindow.xaml" "{8829d00f-11b8-4213-878b-770e8597ac16}" "F5DD72F16D68E4F0E6DBCCC8F6159A9ACE9E25AAB6E92C6610282B857FEC769B"
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
@ -43,7 +43,15 @@ namespace BigProject {
public partial class MainWindow : Rubyer.RubyerWindow, System.Windows.Markup.IComponentConnector {
#line 16 "..\..\MainWindow.xaml"
#line 21 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.MenuItem mt_Config;
#line default
#line hidden
#line 35 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Image ImageBig;
@ -51,7 +59,7 @@ namespace BigProject {
#line hidden
#line 18 "..\..\MainWindow.xaml"
#line 37 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock ResultTextInPic;
@ -59,7 +67,7 @@ namespace BigProject {
#line hidden
#line 23 "..\..\MainWindow.xaml"
#line 42 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.DataGrid dg_JointRecord;
@ -67,7 +75,7 @@ namespace BigProject {
#line hidden
#line 39 "..\..\MainWindow.xaml"
#line 58 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.DataGridTextColumn AddTime;
@ -75,7 +83,7 @@ namespace BigProject {
#line hidden
#line 43 "..\..\MainWindow.xaml"
#line 62 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.GroupBox gb_ClawControl;
@ -83,7 +91,7 @@ namespace BigProject {
#line hidden
#line 47 "..\..\MainWindow.xaml"
#line 66 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawHome;
@ -91,7 +99,7 @@ namespace BigProject {
#line hidden
#line 50 "..\..\MainWindow.xaml"
#line 69 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawStop;
@ -99,7 +107,7 @@ namespace BigProject {
#line hidden
#line 53 "..\..\MainWindow.xaml"
#line 72 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopStart;
@ -107,7 +115,7 @@ namespace BigProject {
#line hidden
#line 56 "..\..\MainWindow.xaml"
#line 75 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_ClawLoopEnd;
@ -115,7 +123,7 @@ namespace BigProject {
#line hidden
#line 64 "..\..\MainWindow.xaml"
#line 83 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Slider pg_ClawAngle;
@ -123,7 +131,7 @@ namespace BigProject {
#line hidden
#line 67 "..\..\MainWindow.xaml"
#line 86 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawAngle;
@ -131,7 +139,7 @@ namespace BigProject {
#line hidden
#line 73 "..\..\MainWindow.xaml"
#line 92 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawLength;
@ -139,7 +147,7 @@ namespace BigProject {
#line hidden
#line 76 "..\..\MainWindow.xaml"
#line 95 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawLength;
@ -147,7 +155,7 @@ namespace BigProject {
#line hidden
#line 84 "..\..\MainWindow.xaml"
#line 103 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ProgressBar pg_ClawPower;
@ -155,7 +163,7 @@ namespace BigProject {
#line hidden
#line 87 "..\..\MainWindow.xaml"
#line 106 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBlock tb_ClawPower;
@ -163,7 +171,7 @@ namespace BigProject {
#line hidden
#line 104 "..\..\MainWindow.xaml"
#line 123 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.ComboBox cb_ComList;
@ -171,7 +179,7 @@ namespace BigProject {
#line hidden
#line 108 "..\..\MainWindow.xaml"
#line 127 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Link;
@ -179,7 +187,7 @@ namespace BigProject {
#line hidden
#line 109 "..\..\MainWindow.xaml"
#line 128 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_LinkAuto;
@ -187,7 +195,7 @@ namespace BigProject {
#line hidden
#line 121 "..\..\MainWindow.xaml"
#line 140 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_X;
@ -195,7 +203,7 @@ namespace BigProject {
#line hidden
#line 129 "..\..\MainWindow.xaml"
#line 148 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Y;
@ -203,7 +211,7 @@ namespace BigProject {
#line hidden
#line 137 "..\..\MainWindow.xaml"
#line 156 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Z;
@ -211,7 +219,7 @@ namespace BigProject {
#line hidden
#line 145 "..\..\MainWindow.xaml"
#line 164 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_A;
@ -219,7 +227,7 @@ namespace BigProject {
#line hidden
#line 153 "..\..\MainWindow.xaml"
#line 172 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_B;
@ -227,7 +235,7 @@ namespace BigProject {
#line hidden
#line 161 "..\..\MainWindow.xaml"
#line 180 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_C;
@ -235,7 +243,7 @@ namespace BigProject {
#line hidden
#line 170 "..\..\MainWindow.xaml"
#line 189 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint1;
@ -243,7 +251,7 @@ namespace BigProject {
#line hidden
#line 178 "..\..\MainWindow.xaml"
#line 197 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint2;
@ -251,7 +259,7 @@ namespace BigProject {
#line hidden
#line 186 "..\..\MainWindow.xaml"
#line 205 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint3;
@ -259,7 +267,7 @@ namespace BigProject {
#line hidden
#line 194 "..\..\MainWindow.xaml"
#line 213 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint4;
@ -267,7 +275,7 @@ namespace BigProject {
#line hidden
#line 202 "..\..\MainWindow.xaml"
#line 221 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint5;
@ -275,7 +283,7 @@ namespace BigProject {
#line hidden
#line 210 "..\..\MainWindow.xaml"
#line 229 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tb_Joint6;
@ -283,7 +291,7 @@ namespace BigProject {
#line hidden
#line 215 "..\..\MainWindow.xaml"
#line 234 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_Home;
@ -291,7 +299,7 @@ namespace BigProject {
#line hidden
#line 218 "..\..\MainWindow.xaml"
#line 237 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_StopNow;
@ -299,7 +307,7 @@ namespace BigProject {
#line hidden
#line 223 "..\..\MainWindow.xaml"
#line 242 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_FK;
@ -307,7 +315,7 @@ namespace BigProject {
#line hidden
#line 226 "..\..\MainWindow.xaml"
#line 245 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_IK;
@ -315,7 +323,7 @@ namespace BigProject {
#line hidden
#line 231 "..\..\MainWindow.xaml"
#line 250 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveJoint;
@ -323,7 +331,7 @@ namespace BigProject {
#line hidden
#line 234 "..\..\MainWindow.xaml"
#line 253 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_GetCurrentAngle;
@ -331,7 +339,7 @@ namespace BigProject {
#line hidden
#line 239 "..\..\MainWindow.xaml"
#line 258 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveArmHand;
@ -339,7 +347,7 @@ namespace BigProject {
#line hidden
#line 242 "..\..\MainWindow.xaml"
#line 261 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_AddRecord;
@ -347,7 +355,7 @@ namespace BigProject {
#line hidden
#line 247 "..\..\MainWindow.xaml"
#line 266 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoop;
@ -355,7 +363,7 @@ namespace BigProject {
#line hidden
#line 250 "..\..\MainWindow.xaml"
#line 269 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_MoveLoopStop;
@ -363,7 +371,7 @@ namespace BigProject {
#line hidden
#line 255 "..\..\MainWindow.xaml"
#line 274 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Button bt_DeleteRecord;
@ -371,7 +379,7 @@ namespace BigProject {
#line hidden
#line 261 "..\..\MainWindow.xaml"
#line 280 "..\..\MainWindow.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.TextBox tbLog;
@ -409,243 +417,252 @@ namespace BigProject {
switch (connectionId)
{
case 1:
this.ImageBig = ((System.Windows.Controls.Image)(target));
this.mt_Config = ((System.Windows.Controls.MenuItem)(target));
#line 21 "..\..\MainWindow.xaml"
this.mt_Config.Click += new System.Windows.RoutedEventHandler(this.mt_Config_Click);
#line default
#line hidden
return;
case 2:
this.ResultTextInPic = ((System.Windows.Controls.TextBlock)(target));
this.ImageBig = ((System.Windows.Controls.Image)(target));
return;
case 3:
this.dg_JointRecord = ((System.Windows.Controls.DataGrid)(target));
this.ResultTextInPic = ((System.Windows.Controls.TextBlock)(target));
return;
case 4:
this.AddTime = ((System.Windows.Controls.DataGridTextColumn)(target));
this.dg_JointRecord = ((System.Windows.Controls.DataGrid)(target));
return;
case 5:
this.gb_ClawControl = ((System.Windows.Controls.GroupBox)(target));
this.AddTime = ((System.Windows.Controls.DataGridTextColumn)(target));
return;
case 6:
this.gb_ClawControl = ((System.Windows.Controls.GroupBox)(target));
return;
case 7:
this.bt_ClawHome = ((System.Windows.Controls.Button)(target));
#line 47 "..\..\MainWindow.xaml"
#line 66 "..\..\MainWindow.xaml"
this.bt_ClawHome.Click += new System.Windows.RoutedEventHandler(this.bt_ClawHome_Click);
#line default
#line hidden
return;
case 7:
case 8:
this.bt_ClawStop = ((System.Windows.Controls.Button)(target));
#line 50 "..\..\MainWindow.xaml"
#line 69 "..\..\MainWindow.xaml"
this.bt_ClawStop.Click += new System.Windows.RoutedEventHandler(this.bt_ClawStop_Click);
#line default
#line hidden
return;
case 8:
case 9:
this.bt_ClawLoopStart = ((System.Windows.Controls.Button)(target));
#line 53 "..\..\MainWindow.xaml"
#line 72 "..\..\MainWindow.xaml"
this.bt_ClawLoopStart.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopStart_Click);
#line default
#line hidden
return;
case 9:
case 10:
this.bt_ClawLoopEnd = ((System.Windows.Controls.Button)(target));
#line 56 "..\..\MainWindow.xaml"
#line 75 "..\..\MainWindow.xaml"
this.bt_ClawLoopEnd.Click += new System.Windows.RoutedEventHandler(this.bt_ClawLoopEnd_Click);
#line default
#line hidden
return;
case 10:
case 11:
this.pg_ClawAngle = ((System.Windows.Controls.Slider)(target));
#line 64 "..\..\MainWindow.xaml"
#line 83 "..\..\MainWindow.xaml"
this.pg_ClawAngle.ValueChanged += new System.Windows.RoutedPropertyChangedEventHandler<double>(this.pg_ClawAngle_ValueChanged);
#line default
#line hidden
#line 64 "..\..\MainWindow.xaml"
#line 83 "..\..\MainWindow.xaml"
this.pg_ClawAngle.MouseUp += new System.Windows.Input.MouseButtonEventHandler(this.pg_ClawAngle_MouseUp);
#line default
#line hidden
return;
case 11:
case 12:
this.tb_ClawAngle = ((System.Windows.Controls.TextBlock)(target));
return;
case 12:
case 13:
this.pg_ClawLength = ((System.Windows.Controls.ProgressBar)(target));
return;
case 13:
case 14:
this.tb_ClawLength = ((System.Windows.Controls.TextBlock)(target));
return;
case 14:
case 15:
this.pg_ClawPower = ((System.Windows.Controls.ProgressBar)(target));
return;
case 15:
case 16:
this.tb_ClawPower = ((System.Windows.Controls.TextBlock)(target));
return;
case 16:
case 17:
this.cb_ComList = ((System.Windows.Controls.ComboBox)(target));
return;
case 17:
case 18:
this.bt_Link = ((System.Windows.Controls.Button)(target));
#line 108 "..\..\MainWindow.xaml"
#line 127 "..\..\MainWindow.xaml"
this.bt_Link.Click += new System.Windows.RoutedEventHandler(this.bt_Link_Click);
#line default
#line hidden
return;
case 18:
case 19:
this.bt_LinkAuto = ((System.Windows.Controls.Button)(target));
#line 109 "..\..\MainWindow.xaml"
#line 128 "..\..\MainWindow.xaml"
this.bt_LinkAuto.Click += new System.Windows.RoutedEventHandler(this.bt_LinkAuto_Click);
#line default
#line hidden
return;
case 19:
case 20:
this.tb_X = ((System.Windows.Controls.TextBox)(target));
return;
case 20:
case 21:
this.tb_Y = ((System.Windows.Controls.TextBox)(target));
return;
case 21:
case 22:
this.tb_Z = ((System.Windows.Controls.TextBox)(target));
return;
case 22:
case 23:
this.tb_A = ((System.Windows.Controls.TextBox)(target));
return;
case 23:
case 24:
this.tb_B = ((System.Windows.Controls.TextBox)(target));
return;
case 24:
case 25:
this.tb_C = ((System.Windows.Controls.TextBox)(target));
return;
case 25:
case 26:
this.tb_Joint1 = ((System.Windows.Controls.TextBox)(target));
return;
case 26:
case 27:
this.tb_Joint2 = ((System.Windows.Controls.TextBox)(target));
return;
case 27:
case 28:
this.tb_Joint3 = ((System.Windows.Controls.TextBox)(target));
return;
case 28:
case 29:
this.tb_Joint4 = ((System.Windows.Controls.TextBox)(target));
return;
case 29:
case 30:
this.tb_Joint5 = ((System.Windows.Controls.TextBox)(target));
return;
case 30:
case 31:
this.tb_Joint6 = ((System.Windows.Controls.TextBox)(target));
return;
case 31:
case 32:
this.bt_Home = ((System.Windows.Controls.Button)(target));
#line 215 "..\..\MainWindow.xaml"
#line 234 "..\..\MainWindow.xaml"
this.bt_Home.Click += new System.Windows.RoutedEventHandler(this.bt_Home_Click);
#line default
#line hidden
return;
case 32:
case 33:
this.bt_StopNow = ((System.Windows.Controls.Button)(target));
#line 218 "..\..\MainWindow.xaml"
#line 237 "..\..\MainWindow.xaml"
this.bt_StopNow.Click += new System.Windows.RoutedEventHandler(this.bt_StopNow_Click);
#line default
#line hidden
return;
case 33:
case 34:
this.bt_FK = ((System.Windows.Controls.Button)(target));
#line 223 "..\..\MainWindow.xaml"
#line 242 "..\..\MainWindow.xaml"
this.bt_FK.Click += new System.Windows.RoutedEventHandler(this.bt_FK_Click);
#line default
#line hidden
return;
case 34:
case 35:
this.bt_IK = ((System.Windows.Controls.Button)(target));
#line 226 "..\..\MainWindow.xaml"
#line 245 "..\..\MainWindow.xaml"
this.bt_IK.Click += new System.Windows.RoutedEventHandler(this.bt_IK_Click);
#line default
#line hidden
return;
case 35:
case 36:
this.bt_MoveJoint = ((System.Windows.Controls.Button)(target));
#line 231 "..\..\MainWindow.xaml"
#line 250 "..\..\MainWindow.xaml"
this.bt_MoveJoint.Click += new System.Windows.RoutedEventHandler(this.bt_MoveJoint_Click);
#line default
#line hidden
return;
case 36:
case 37:
this.bt_GetCurrentAngle = ((System.Windows.Controls.Button)(target));
#line 234 "..\..\MainWindow.xaml"
#line 253 "..\..\MainWindow.xaml"
this.bt_GetCurrentAngle.Click += new System.Windows.RoutedEventHandler(this.bt_GetCurrentAngle_Click);
#line default
#line hidden
return;
case 37:
case 38:
this.bt_MoveArmHand = ((System.Windows.Controls.Button)(target));
#line 239 "..\..\MainWindow.xaml"
#line 258 "..\..\MainWindow.xaml"
this.bt_MoveArmHand.Click += new System.Windows.RoutedEventHandler(this.bt_MoveArmHand_Click);
#line default
#line hidden
return;
case 38:
case 39:
this.bt_AddRecord = ((System.Windows.Controls.Button)(target));
#line 242 "..\..\MainWindow.xaml"
#line 261 "..\..\MainWindow.xaml"
this.bt_AddRecord.Click += new System.Windows.RoutedEventHandler(this.bt_AddRecord_Click);
#line default
#line hidden
return;
case 39:
case 40:
this.bt_MoveLoop = ((System.Windows.Controls.Button)(target));
#line 247 "..\..\MainWindow.xaml"
#line 266 "..\..\MainWindow.xaml"
this.bt_MoveLoop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoop_Click);
#line default
#line hidden
return;
case 40:
case 41:
this.bt_MoveLoopStop = ((System.Windows.Controls.Button)(target));
#line 250 "..\..\MainWindow.xaml"
#line 269 "..\..\MainWindow.xaml"
this.bt_MoveLoopStop.Click += new System.Windows.RoutedEventHandler(this.bt_MoveLoopStop_Click);
#line default
#line hidden
return;
case 41:
case 42:
this.bt_DeleteRecord = ((System.Windows.Controls.Button)(target));
#line 255 "..\..\MainWindow.xaml"
#line 274 "..\..\MainWindow.xaml"
this.bt_DeleteRecord.Click += new System.Windows.RoutedEventHandler(this.bt_DeleteRecord_Click);
#line default
#line hidden
return;
case 42:
case 43:
this.tbLog = ((System.Windows.Controls.TextBox)(target));
return;
}

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