C# 上位机控制雅马哈4轴机械手

【实例截图】

【核心代码】

using System;
using System.Windows;

namespace YMH_Demo
{
    /// <summary>
    /// MainWindow.xaml 的交互逻辑
    /// </summary>
    public partial class MainWindow : Window
    {
        public MainWindow()
        {
            InitializeComponent();
        }
        private string CMD;
        bool OK = false;
        private void BtnOK_Click(object sender, RoutedEventArgs e)
        {
            if (!string.IsNullOrWhiteSpace(txtspeed.Text))
            {
                int speed = Convert.ToInt32(txtspeed.Text);
                if (speed <= 0 || speed > 100)
                {
                    MessageBox.Show("移动速度范围为1~100 ，请重新设置", "温馨提示");
                }
                if (Common.YMHConnect || Common.ConnectToYMH())
                {
                    Common.ClientSendMsg("ASPEED "   speed   "\r\n");//机械手移动的速度
                }
            }
            if (!string.IsNullOrWhiteSpace(txtspace.Text))
            {
                int space = Convert.ToInt32(txtspace.Text);
                if (space <= 0 || space > 10000)
                {
                    MessageBox.Show("移动距离范围为1~10000  ，请重新设置", "温馨提示");
                    return;
                }
                if (Common.YMHConnect || Common.ConnectToYMH())
                {
                    Common.ClientSendMsg("@IDIST "   space   "\r\n");//机械手移动的距离  脉冲单位
                }
            }
        }

        private void BtnSetPoint_Click(object sender, RoutedEventArgs e)
        {
            if (!string.IsNullOrWhiteSpace(txtpoint.Text))
            {
                if (Common.YMHConnect || Common.ConnectToYMH())
                {
                    //将点坐标值 写入机器人控制器    @TEACH[1] 100
                    Common.ClientSendMsg("@TEACH[1] "   txtpoint.Text   "\r\n");
                }
            }
        }

        private void BtnUP_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 3-";
            Move();
        }

        private void Move()
        {
            if (Common.YMHConnect || Common.ConnectToYMH())
            {
                Common.ClientSendMsg(CMD   "\r\n");
            }
        }

        private void BtnDown_Click(object sender, RoutedEventArgs e)
        {

            CMD = "@INCHXY 3 ";
            Move();
        }

        private void BtnLeft_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 2 ";
            Move();
        }

        private void BtnRight_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 2-";
            Move();
        }

        private void BtnFoward_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 1-";
            Move();
        }

        private void BtnBack_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 1 ";
            Move();
        }

        private void BtnShun_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 4-";
            Move();
        }

        private void BtnNi_Click(object sender, RoutedEventArgs e)
        {
            CMD = "@INCHXY 4 ";
            Move();
        }

        private void Window_Loaded(object sender, RoutedEventArgs e)
        {

        }
    }
}