实例介绍
【实例简介】abb机器人winform二次开发程序，可实现机器人单轴运动，线性运动，记录点位姿信息，显示当前点位姿和角度信息
【实例截图】
【文件目录】
│ MoveRobot.sln
│
└─MoveRobot
│ App.config
│ CoordinateTransformation.cs
│ Form1.cs
│ Form1.Designer.cs
│ Form1.resx
│ Form2.cs
│ Form2.Designer.cs
│ Form2.resx
│ MoveRobot.csproj
│ Program.cs
│ Public.cs
│
├─bin
│ └─Debug
│ ABB.Robotics.Controllers.PC.dll
│ ABB.Robotics.Controllers.PC.xml
│ MoveRobot.exe
│ MoveRobot.exe.config
│ MoveRobot.pdb
│ MoveRobot.vshost.exe
│ MoveRobot.vshost.exe.config
│ MoveRobot.vshost.exe.manifest
│ RobotStudio.Services.RobApi.Desktop.dll
│ RobotStudio.Services.RobApi.dll
│
├─Image
│ Industrial_robot_64px_532261_easyicon.net.ico
│ MainForm.ico
│ 机器人回原点.ico
│ 机器人运动.ico
│ 记录点的信息.ico
│
├─obj
│ └─Debug
│ │ DesignTimeResolveAssemblyReferences.cache
│ │ DesignTimeResolveAssemblyReferencesInput.cache
│ │ Interop.MSComctlLib.dll
│ │ MoveRobot.csproj.FileListAbsolute.txt
│ │ MoveRobot.csproj.GenerateResource.Cache
│ │ MoveRobot.csproj.ResolveComReference.cache
│ │ MoveRobot.csprojAssemblyReference.cache
│ │ MoveRobot.csprojResolveAssemblyReference.cache
│ │ MoveRobot.exe
│ │ MoveRobot.MianForm.resources
│ │ MoveRobot.pdb
│ │ MoveRobot.PointnameForm.resources
│ │ MoveRobot.Properties.Resources.resources
│ │ TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs
│ │ TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs
│ │ TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs
│ │
│ └─TempPE
└─Properties
AssemblyInfo.cs
Resources.Designer.cs
Resources.resx
Settings.Designer.cs
Settings.settings
【核心代码】
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers.MotionDomain;
using ABB.Robotics.Controllers.RapidDomain;
using System.Diagnostics;
namespace MoveRobot
{
public partial class MianForm : Form
{
public MianForm()
{
InitializeComponent();
bool b = IsProcessStarted("RobotStudio");
if (b)
{
NetworkScanner ns = new NetworkScanner();
ns.Scan();
Public.ctr = new Controller(ns.Controllers[0]);
Public.ctr.Logon(UserInfo.DefaultUser);
}
else
{
//弹出对话框选择工作站，当选择好工作站后打开所选工作站
if (openABBFile.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
Process.Start(System.IO.Path.GetFullPath(openABBFile.FileName));
}
System.Threading.Thread.Sleep(20000);//程序等待20s以便robotstudio打开
NetworkScanner ns = new NetworkScanner();
ns.Scan();
Public.ctr = new Controller(ns.Controllers[0]);
Public.ctr.Logon(UserInfo.DefaultUser);
}
}
/// <summary>
/// 判断robotstudio软件是否打开
/// </summary>
/// <param name="processName"></param>
/// <returns></returns>
private bool IsProcessStarted(string processName)
{
Process[] temp = Process.GetProcessesByName(processName);
if (temp.Length > 0) return true;
else
return false;
}
#region 单个轴运动控制
/// <summary>
/// 轴1移动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxis1_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
JointTarget targetR = aMechCol[0].GetPosition();
JointTarget targetG = aMechCol[1].GetPosition();
targetR.ExtAx.Eax_a = targetG.ExtAx.Eax_a;
targetR.RobAx.Rax_1 = float.Parse(txtAngle.Text);
//判断轴度数是否超出范围
if (targetR.RobAx.Rax_1 < -180)
{
targetR.RobAx.Rax_1 = -180;
}
else if (targetR.RobAx.Rax_1 > 180)
{
targetR.RobAx.Rax_1 = 180;
}
targetR = MoveAxis(targetR);
}
/// <summary>
/// 轴2移动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxis2_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
JointTarget targetR = aMechCol[0].GetPosition();
JointTarget targetG = aMechCol[1].GetPosition();
targetR.RobAx.Rax_2 = float.Parse(txtAngle.Text);
targetR.ExtAx.Eax_a = targetG.ExtAx.Eax_a;
//判断轴度数是否超出范围
if (targetR.RobAx.Rax_2 < -90)
{
targetR.RobAx.Rax_2 = -90;
}
else if (targetR.RobAx.Rax_2 > 150)
{
targetR.RobAx.Rax_2 = 150;
}
targetR = MoveAxis(targetR);
}
/// <summary>
/// 移动轴3
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxis3_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
JointTarget targetR = aMechCol[0].GetPosition();
JointTarget targetG = aMechCol[1].GetPosition();
targetR.RobAx.Rax_3 = float.Parse(txtAngle.Text);
targetR.ExtAx.Eax_a = targetG.ExtAx.Eax_a;
//判断轴度数是否超出范围
if (targetR.RobAx.Rax_3 < -180)
{
targetR.RobAx.Rax_3 = -180;
}
else if (targetR.RobAx.Rax_3 > 75)
{
targetR.RobAx.Rax_3 = 75;
}
targetR = MoveAxis(targetR);
}
/// <summary>
/// 移动轴4
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxis4_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
JointTarget targetR = aMechCol[0].GetPosition();
JointTarget targetG = aMechCol[1].GetPosition();
targetR.RobAx.Rax_4 = float.Parse(txtAngle.Text);
targetR.ExtAx.Eax_a = targetG.ExtAx.Eax_a;
//判断轴度数是否超出范围
if (targetR.RobAx.Rax_4 < -400)
{
targetR.RobAx.Rax_4 = -400;
}
else if (targetR.RobAx.Rax_4 > 400)
{
targetR.RobAx.Rax_4 = 400;
}
targetR = MoveAxis(targetR);
}
/// <summary>
///移动轴5
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxis5_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
JointTarget targetR = aMechCol[0].GetPosition();
JointTarget targetG = aMechCol[1].GetPosition();
targetR.RobAx.Rax_5 = float.Parse(txtAngle.Text);
targetR.ExtAx.Eax_a = targetG.ExtAx.Eax_a;
if (targetR.RobAx.Rax_5 < -125)
{
targetR.RobAx.Rax_5 = -125;
}
else if (targetR.RobAx.Rax_5 > 120)
{
targetR.RobAx.Rax_5 = 120;
}
targetR = MoveAxis(targetR);
}
/// <summary>
/// 移动轴6
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxis6_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
JointTarget targetR = aMechCol[0].GetPosition();
JointTarget targetG = aMechCol[1].GetPosition();
targetR.RobAx.Rax_6 = float.Parse(txtAngle.Text);
targetR.ExtAx.Eax_a = targetG.ExtAx.Eax_a;
if (targetR.RobAx.Rax_6 < -400)
{
targetR.RobAx.Rax_6 = -400;
}
else if (targetR.RobAx.Rax_6 > 400)
{
targetR.RobAx.Rax_6 = 400;
}
targetR = MoveAxis(targetR);
}
#endregion
#region 直线运动控制
private void btnLineRunX_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
targetR.Trans.X = Convert.ToSingle(nUDStep.Value);
targetR = LineRun(targetR);
}
private void btnLineRunY_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
targetR.Trans.Y = Convert.ToSingle(nUDStep.Value);
targetR = LineRun(targetR);
}
private void btnLineRunZ_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
targetR.Trans.Z = Convert.ToSingle(nUDStep.Value);
targetR = LineRun(targetR);
}
#endregion
#region 重定位运动控制
private void btnRotatoRunRX_Click(object sender, EventArgs e)
{
double[] rpy = new double[3];//用于存储欧拉角形式的位姿信息
double[] q = new double[4];//用于存储四元数形式的位姿信息
//读取机器人的位姿信息
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
//MessageBox.Show(aimtarget.Rot.Q1.ToString() "\t" aimtarget.Rot.Q2.ToString() "\t" aimtarget.Rot.Q3.ToString() "\t" aimtarget.Rot.Q4.ToString());
//MessageBox.Show("计算结果" (Math.Pow(aimtarget.Rot.Q1, 2) Math.Pow(aimtarget.Rot.Q2, 2) Math.Pow(aimtarget.Rot.Q3, 2) Math.Pow(aimtarget.Rot.Q4, 2)));
rpy = CoordinateTransformation.QuaternionToEuler(targetR.Rot.Q1, targetR.Rot.Q2, targetR.Rot.Q3, targetR.Rot.Q4);
rpy[0] = Convert.ToDouble(nUDStep.Value);
//MessageBox.Show("Roll:" rpy[0] "Pitch:" rpy[1] "Yaw:" rpy[2]);
q = CoordinateTransformation.EulerToQuaternion(rpy[0], rpy[1], rpy[2]);
targetR.Rot.Q1 = q[0];
targetR.Rot.Q2 = q[1];
targetR.Rot.Q3 = q[2];
targetR.Rot.Q4 = q[3];
//MessageBox.Show("Q1:" q[0] "Q2:" q[1] "Q3:" q[2] "Q4" q[3]);
//MessageBox.Show("计算结果\t" (Math.Pow(q[0], 2) Math.Pow(q[1], 2) Math.Pow(q[2], 2) Math.Pow(q[3], 2)).ToString());
if ((Math.Pow(q[0], 2) Math.Pow(q[1], 2) Math.Pow(q[2], 2) Math.Pow(q[3], 2)).ToString() == "1")
{
targetR = LineRun(targetR);
}
else
{
MessageBox.Show("计算出错");
}
}
private void btnRotatoRunRY_Click(object sender, EventArgs e)
{
double[] rpy = new double[3];
double[] q = new double[4];
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
rpy = CoordinateTransformation.QuaternionToEuler(targetR.Rot.Q1, targetR.Rot.Q2, targetR.Rot.Q3, targetR.Rot.Q4);
rpy[1] = Convert.ToDouble(nUDStep.Value);
q = CoordinateTransformation.EulerToQuaternion(rpy[0], rpy[1], rpy[2]);
targetR.Rot.Q1 = q[0];
targetR.Rot.Q2 = q[1];
targetR.Rot.Q3 = q[2];
targetR.Rot.Q4 = q[3];
if ((Math.Pow(q[0], 2) Math.Pow(q[1], 2) Math.Pow(q[2], 2) Math.Pow(q[3], 2)).ToString() == "1")
{
targetR = LineRun(targetR);
}
else
{
MessageBox.Show("计算出错");
}
}
private void btnRotatoRunRZ_Click(object sender, EventArgs e)
{
double[] rpy = new double[3];
double[] q = new double[4];
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
rpy = CoordinateTransformation.QuaternionToEuler(targetR.Rot.Q1, targetR.Rot.Q2, targetR.Rot.Q3, targetR.Rot.Q4);
rpy[2] = Convert.ToDouble(nUDStep.Value);
q = CoordinateTransformation.EulerToQuaternion(rpy[0], rpy[1], rpy[2]);
targetR.Rot.Q1 = q[0];
targetR.Rot.Q2 = q[1];
targetR.Rot.Q3 = q[2];
targetR.Rot.Q4 = q[3];
if ((Math.Pow(q[0], 2) Math.Pow(q[1], 2) Math.Pow(q[2], 2) Math.Pow(q[3], 2)).ToString() == "1")
{
targetR = LineRun(targetR);
}
else
{
MessageBox.Show("计算出错");
}
}
#endregion
/// <summary>
/// 一键机器人回到机械原点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnHomePoint_Click(object sender, EventArgs e)
{
JointTarget target = Public.ctr.MotionSystem.ActiveMechanicalUnit.GetPosition();
target.RobAx.Rax_1 = 0;
target.RobAx.Rax_2 = 0;
target.RobAx.Rax_3 = 0;
target.RobAx.Rax_4 = 0;
target.RobAx.Rax_5 = 30;
target.RobAx.Rax_6 = 0;
target = MoveAxis(target);
}
#region 将点位姿信息增添到listview中
/// <summary>
/// 记录点的信息，并将其添加到listview中
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnRecord_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X;
//显示记录点名称对话框
PointnameForm fm = new PointnameForm();
fm.ShowDialog();
//将点的位姿信息添加到listview中
if (System.String.IsNullOrWhiteSpace(Public.pointName))
{
}
else
{
ListViewItem iItem = listView1.Items.Add((listView1.Items.Count 1).ToString());
iItem.SubItems.Add(Public.pointName);
iItem.SubItems.Add(targetR.ToString());
iItem.EnsureVisible();
}
}
#endregion
#region 编程运动
/// <summary>
/// 点击按钮开始按照指定点和指定运动方式进行运动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnRun_Click(object sender, EventArgs e)
{
try
{
RobTarget target = RobTarget.Parse(listView1.SelectedItems[0].SubItems[2].Text);
switch (cboRunStyle.Text)
{
case "直线运动":
target = LineRun(target);
break;
case "曲线运动":
target = JointRun(target);
break;
case "圆弧运动":
//执行MoveC时总是执行不了，robotstudio中给出的原因如下：
//1 终点太靠近起点。2 圆点离起点过近。3 圆点离终点过近。4 不确定的重定向。5 圆过大 > 240 度。
//当定义的位姿点正确时，该指令可以进行，所以在前期选择位姿点时要有所选择
target = CircleRun(target, RobTarget.Parse(listView1.SelectedItems[1].SubItems[2].Text));
break;
default:
break;
}
}
catch (Exception a)
{
MessageBox.Show(a.ToString());
}
}
#endregion
#region 导轨运动操作
private void btnTrack_Click(object sender, EventArgs e)
{
MechanicalUnitCollection aMechCol = Public.ctr.MotionSystem.MechanicalUnits;
RobTarget targetG = aMechCol[1].GetPosition(CoordinateSystemType.World);
RobTarget targetR = aMechCol[0].GetPosition(CoordinateSystemType.World);
targetR.Extax.Eax_a = targetG.Trans.X float.Parse(txtAngle.Text);
targetR.Trans.X = float.Parse(txtAngle.Text);
targetR = GuidRun(targetR);
}
#endregion
#region 机器人运动的方法
/// <summary>
/// 将变换后的轴度数和更改后的数据传递给控制器，并使得机器人按照绝对轴关节运动
/// </summary>
/// <param name="target">加上转动角度后的轴度数</param>
/// <returns>轴关节度数</returns>
private JointTarget MoveAxis(JointTarget target)
{
RapidData r = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "t");
RapidData pc = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "pc");
RapidData time = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "time");
ABB.Robotics.Controllers.RapidDomain.Num timeN = new Num(float.Parse(txtTime.Text));
ABB.Robotics.Controllers.RapidDomain.Num n = new Num(1);
using (Mastership m = Mastership.Request(Public.ctr.Rapid))
{
r.Value = target;
pc.Value = n;
time.Value = timeN;
}
return target;
}
/// <summary>
/// 将变换后机器人位姿信息传递给控制器，并使得机器人按照关节式移动方式运动
/// </summary>
/// <param name="target">机器人位姿信息</param>
/// <returns>变换后的位姿信息</returns>
private RobTarget JointRun(RobTarget target)
{
RapidData r = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "aimtarget");
RapidData pc = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "pc");
RapidData time = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "time");
ABB.Robotics.Controllers.RapidDomain.Num n = new Num(3);
ABB.Robotics.Controllers.RapidDomain.Num timeN = new Num(float.Parse(txtTime.Text));
using (Mastership m = Mastership.Request(Public.ctr.Rapid))
{
r.Value = target;
pc.Value = n;
time.Value = timeN;
}
return target;
}
/// <summary>
/// 机器人直线运动
/// </summary>
/// <param name="aimtarget">机器人整体位姿信息</param>
/// <returns>变化后的位姿信息</returns>
private RobTarget LineRun(RobTarget aimtarget)
{
RapidData r = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "aimtarget");
RapidData pc = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "pc");
RapidData time = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "time");
ABB.Robotics.Controllers.RapidDomain.Num n = new Num(2);
ABB.Robotics.Controllers.RapidDomain.Num timeN = new Num(float.Parse(txtTime.Text));
using (Mastership m = Mastership.Request(Public.ctr.Rapid))
{
r.Value = aimtarget;
pc.Value = n;
time.Value = timeN;
}
return aimtarget;
}
/// <summary>
/// 机器人按照圆弧类型运动
/// </summary>
/// <param name="target1">中间点位姿信息</param>
/// <param name="target2">目标点位姿信息</param>
/// <returns>中间点位姿信息</returns>
private RobTarget CircleRun(RobTarget target1, RobTarget target2)
{
RapidData r = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "aimtarget");
RapidData mid = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "midtarget");
RapidData pc = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "pc");
RapidData time = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "time");
ABB.Robotics.Controllers.RapidDomain.Num timeN = new Num(float.Parse(txtTime.Text));
ABB.Robotics.Controllers.RapidDomain.Num n = new Num(4);
using (Mastership m = Mastership.Request(Public.ctr.Rapid))
{
r.Value = target1;
mid.Value = target2;
pc.Value = n;
time.Value = timeN;
}
return target1;
}
/// <summary>
/// 使机器人沿导轨运动
/// </summary>
/// <param name="aimtarget"></param>
/// <returns></returns>
private RobTarget GuidRun(RobTarget aimtarget)
{
RapidData r = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "aimtarget");
RapidData pc = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "pc");
RapidData time = Public.ctr.Rapid.GetRapidData("T_ROB1", "Module1", "time");
ABB.Robotics.Controllers.RapidDomain.Num n = new Num(5);
ABB.Robotics.Controllers.RapidDomain.Num timeN = new Num(float.Parse(txtTime.Text));
using (Mastership m = Mastership.Request(Public.ctr.Rapid))
{
r.Value = aimtarget;
pc.Value = n;
time.Value = timeN;
}
return aimtarget;
}
#endregion
/// <summary>
/// 将机器人当前各轴的度数显示在对应的label中
/// </summary>
private void WriteAxisAngle()
{
try
{
JointTarget target = Public.ctr.MotionSystem.ActiveMechanicalUnit.GetPosition();
lblAxis1.Text = "Axis1:" Math.Round(target.RobAx.Rax_1, 2, MidpointRounding.AwayFromZero).ToString();
lblAxis2.Text = "Axis2:" Math.Round(target.RobAx.Rax_2, 2, MidpointRounding.AwayFromZero).ToString();
lblAxis3.Text = "Axis3:" Math.Round(target.RobAx.Rax_3, 2, MidpointRounding.AwayFromZero).ToString();
lblAxis4.Text = "Axis4:" Math.Round(target.RobAx.Rax_4, 2, MidpointRounding.AwayFromZero).ToString();
lblAxis5.Text = "Axis5:" Math.Round(target.RobAx.Rax_5, 2, MidpointRounding.AwayFromZero).ToString();
lblAxis6.Text = "Axis6:" Math.Round(target.RobAx.Rax_6, 2, MidpointRounding.AwayFromZero).ToString();
}
catch (Exception)
{
}
}
private void MianForm_Load(object sender, EventArgs e)
{
lblSpeed.Text = trackBar1.Value.ToString();
toolStripStatusLabel1.Text = System.DateTime.Now.ToString();//加载窗体时将时间给状态栏
WriteAxisAngle();
}
/// <summary>
/// 时间事件，每隔0.1s触发一次，1、显示当前时间在状态栏中；2、将机器人当前位姿传递给label
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void timer1_Tick(object sender, EventArgs e)
{
toolStripStatusLabel1.Text = System.DateTime.Now.ToString();
WriteAxisAngle();
}
#region listview中鼠标右键操作
/// <summary>
/// 右击鼠标选择删除，则将选中行从listview中删除
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void 删除ToolStripMenuItem_Click(object sender, EventArgs e)
{
//int currentIndex = 0;
if (this.listView1.SelectedItems.Count > 0)//判断listview有被选中项
{
for (int i = 0; i < this.listView1.SelectedItems.Count; i )
{
listView1.Items[i].Remove();
}
//currentIndex = this.listView1.SelectedItems[0].Index;//取当前选中项的index
//listView1.Items[currentIndex].Remove();
}
}
/// <summary>
/// 右击鼠标选择修改点名称，弹出输入点名称对话框，并将修改后的值传递给listview
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void 修改点名称ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (this.listView1.SelectedItems.Count==1)
{
PointnameForm fm = new PointnameForm();
fm.ShowDialog();
//将点的位姿信息添加到listview中
if (System.String.IsNullOrWhiteSpace(Public.pointName))
{
}
else
{
int currentIndex = 0;
if (this.listView1.SelectedItems.Count > 0)//判断listview有被选中项
{
currentIndex = this.listView1.SelectedItems[0].Index;//取当前选中项的index
listView1.Items[currentIndex].SubItems[1].Text = Public.pointName;//将更改后的名称传递给listview中
}
}
}
else if (this.listView1.SelectedItems.Count < 1)
{
MessageBox.Show("请先选择位姿点");
}
else if (this.listView1.SelectedItems.Count > 1)
{
MessageBox.Show("请只选择一个位姿点");
}
}
/// <summary>
/// 右击鼠标选择添加到运动，将位姿信息传递给listbox
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void 添加到运动ToolStripMenuItem_Click(object sender, EventArgs e)
{
listBox1.Items.Add(this.listView1.SelectedItems[0].SubItems[2].Text);
}
#endregion
#region 点击菜单栏中相应控件出发相应的事件
private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
{
DialogResult dr = MessageBox.Show("是否退出MoveRobot", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Stop);
if (dr == DialogResult.OK)
{
this.Close();
}
}
private void 帮助ToolStripMenuItem_Click(object sender, EventArgs e)
{
System.Diagnostics.Process.Start("http://new.abb.com/");//打开指定网站
}
private void 打开ToolStripMenuItem_Click(object sender, EventArgs e)
{
this.openFileDialog1.ShowDialog();
}
private void 保存ToolStripMenuItem_Click(object sender, EventArgs e)
{
this.openFileDialog1.ShowDialog();
}
private void 另存为ToolStripMenuItem_Click(object sender, EventArgs e)
{
this.openFileDialog1.ShowDialog();
}
private void 新建ToolStripMenuItem_Click(object sender, EventArgs e)
{
this.openFileDialog1.ShowDialog();
}
private void robotStudioToolStripMenuItem_Click(object sender, EventArgs e)
{
process1.Start();
}
#endregion
/// <summary>
/// 当滑动条的值变化时，将变化后的值传递给speed；同时将滑动条变化后的值给label
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void trackBar1_ValueChanged(object sender, EventArgs e)
{
Public.speed = trackBar1.Value;
Public.ctr.MotionSystem.SpeedRatio = trackBar1.Value;
lblSpeed.Text = trackBar1.Value.ToString();
}
/// <summary>
/// 单轴运动时输入角度的限制
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void txtAngle_KeyPress(object sender, KeyPressEventArgs e)
{
//当按下的值不是数字或者.时，弹出提示对话框并且不将按键值传入文本框
if ((e.KeyChar != 8 && !char.IsDigit(e.KeyChar)) && e.KeyChar != 13 && e.KeyChar != 46 && e.KeyChar != 45)
{
MessageBox.Show("旋转角度只能输入数字", "操作提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
e.Handled = true;
}
if (txtAngle.Text == "-")
{
}
//当文本框内的值大于100或小于-100时，并且按键不是backpace和enter时弹出提示对话框，并不将按键值传入文本框
else if ((float.Parse(txtAngle.Text) > 100 || float.Parse(txtAngle.Text) < -100) && (e.KeyChar != 8 && e.KeyChar != 13))
{
MessageBox.Show("旋转角度过大", "操作提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
e.Handled = true;
}
}
}
}
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