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Commit 5655d465 由 几米阳光
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1，编程里的高度和宽度定义做个示意图。 

2，机器人微调:前后左右动作反了。
3，程序里送丝速度需要加单位（毫米每秒）
1 个父辈 534de3aa
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内嵌 并排
正在显示 5 个修改的文件 包含 25 行增加 和 104 行删除
URSolderingClient/FrmBoardInfo.cs
......@@ -253,18 +253,18 @@ namespace URSoldering.Client
view.Cells[6].Value = point.RobotRY.ToString();
view.Cells[7].Value = point.RobotRZ.ToString();
view.Cells[8].Value = point.preheatTemperature.ToString();
view.Cells[8].Value = point.preheatTemperature.ToString()+ "°C";
view.Cells[9].Value = point.preheatTemperatureMax.ToString();
view.Cells[10].Value = point.preheatTemperatureMin.ToString();
view.Cells[11].Value = point.preheatTime.ToString();
view.Cells[12].Value = point.weldTemperature.ToString();
view.Cells[12].Value = point.weldTemperature.ToString() + "°C";
view.Cells[13].Value = point.weldTemperatureMax.ToString();
view.Cells[14].Value = point.weldTemperatureMin.ToString();
view.Cells[15].Value = point.weldTime.ToString();
view.Cells[16].Value = point.startSendWireSpeed.ToString();
view.Cells[17].Value = point.startSendWireTime.ToString();
view.Cells[18].Value = point.sendWireSpeed.ToString();
view.Cells[19].Value = point.sendWireTime.ToString();
view.Cells[18].Value = point.sendWireSpeed.ToString()+"mm/s";
view.Cells[19].Value = point.sendWireTime.ToString()+"s";
view.Cells[20].Value = point.pointType;
view.Cells[21].Value = point.isNeedClear.ToString();
view.Cells[22].Value = point.ClearTime;
......@@ -719,14 +719,14 @@ namespace URSoldering.Client
point.RobotRY = Convert.ToDouble(row.Cells[this.Column_RY.Name].Value.ToString());
point.RobotRZ = Convert.ToDouble(row.Cells[this.Column_RZ.Name].Value.ToString());
point.weldTemperature = Convert.ToInt32(row.Cells[this.Column_weldTemperature.Name].Value.ToString());
point.weldTemperature = Convert.ToInt32(row.Cells[this.Column_weldTemperature.Name].Value.ToString().Replace("°C", ""));
point.weldTime = Convert.ToDouble(row.Cells[this.Column_weldTime.Name].Value.ToString());
point.sendWireSpeed = Convert.ToDouble(row.Cells[this.Column_sendWireSpeed.Name].Value.ToString());
point.sendWireTime = Convert.ToDouble(row.Cells[this.Column_sendWireTime.Name].Value.ToString());
point.sendWireSpeed = Convert.ToDouble(row.Cells[this.Column_sendWireSpeed.Name].Value.ToString().Replace("mm/s", ""));
point.sendWireTime = Convert.ToDouble(row.Cells[this.Column_sendWireTime.Name].Value.ToString().Replace("s", ""));
point.startSendWireSpeed = Convert.ToDouble(row.Cells[this.Column_startSendWireSpeed.Name].Value.ToString());
point.startSendWireTime = Convert.ToDouble(row.Cells[this.Column_startSendWireTime.Name].Value.ToString());
point.preheatTemperature = Convert.ToInt32(row.Cells[this.Column_preheatTemperature.Name].Value.ToString());
point.preheatTemperature = Convert.ToInt32(row.Cells[this.Column_preheatTemperature.Name].Value.ToString().Replace("°C", ""));
point.preheatTime = Convert.ToDouble(row.Cells[this.Column_preheatTime.Name].Value.ToString());
point.preheatTemperatureMax = Convert.ToInt32(row.Cells[this.Column_preheatTemperatureMax.Name].Value.ToString());
......@@ -818,70 +818,7 @@ namespace URSoldering.Client
Graphics g = (picBoard).CreateGraphics();
//g.Clear(Color.White);
picBoard.Refresh();
//double orgX = FormUtil.getDoubleValue(txtOriginX);
//double orgY = FormUtil.getDoubleValue(txtOriginY);
//if (orgType == 1)
//{
// orgX = FormUtil.getDoubleValue(txtOriginX);
// orgY = FormUtil.getDoubleValue(txtOriginY);
//}
//else if (orgType == 2)
//{
// orgX = FormUtil.getDoubleValue(txtOriginX) + FormUtil.GetIntValue(txtBoardLength);
// orgY = FormUtil.getDoubleValue(txtOriginY);
//}
//else if (orgType == 3)
//{
// orgX = FormUtil.getDoubleValue(txtOriginX);
// orgY = FormUtil.getDoubleValue(txtOriginY) - FormUtil.GetIntValue(txtBoardWidth);
//}
//else
//{
// orgX = FormUtil.getDoubleValue(txtOriginX) + FormUtil.GetIntValue(txtBoardLength);
// orgY = FormUtil.getDoubleValue(txtOriginY) - FormUtil.GetIntValue(txtBoardWidth);
//}
//imageXiShu = (float)picBoard.Width / (float)height;
//Graphics grfx = picBoard.CreateGraphics();
////float preX = 0;
////float preY = 0;
//int index = 0;
//foreach (WeldPointInfo weld in pointList)
//{
// float x = (float)Math.Abs(weld.RobotX - orgX) * imageXiShu;
// float y = (float)Math.Abs(weld.RoobtY - orgY) * imageXiShu;
// LogUtil.debug("显示焊点：X【" + x + "】Y【" + y + "】,坐标X【" + weld.RobotX + "】坐标Y【" + weld.RoobtY + "】");
// g.FillEllipse(Brushes.Red, x - pointHight / 2, y - pointHight / 2, pointHight, pointHight);
//if (index > 0)
//{
// Pen p = new Pen(Color.Red, 2);
// //中间点
// float xCenter = (preX + x) / 2;
// float yCenter = (preY + y) / 2;
// System.Drawing.Drawing2D.AdjustableArrowCap lineCap = new System.Drawing.Drawing2D.AdjustableArrowCap(6, 8, true);
// Pen RedPen = new Pen(Color.Red, 2);
// RedPen.CustomEndCap = lineCap;
// grfx.DrawLine(RedPen, preX, preY, xCenter, yCenter);
// grfx.DrawLine(p, preX, preY, x, y);
//}
//preX = x;
//preY = y;
//index++;
//}
//grfx.SmoothingMode = SmoothingMode.HighQuality;
//g.DrawString("A ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, 3, 3);
//g.DrawString("B ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, 3, picBoard.Height - 20);
//g.DrawString("C ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, picBoard.Width - 18, 0);
//g.DrawString("D ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, picBoard.Width - 18, picBoard.Height - 20);
//grfx.Dispose();
//g.Dispose();
}
......@@ -1004,26 +941,6 @@ namespace URSoldering.Client
private void 保存焊点ToolStripMenuItem_Click(object sender, EventArgs e)
{
//if (m_MouseDownPoint == null || m_MouseDownPoint.X == 0 || m_MouseDownPoint.Y == 0)
//{
// MessageBox.Show("请点击要保存的焊点");
// return;
//}
//double x = 0;
//double y = 0;
//GetPicPoint(out x, out y);
//LogUtil.info("新增焊点：X【" + m_MouseDownPoint.X + "】Y【" + m_MouseDownPoint.Y + "】,坐标X【" + x + "】坐标Y【" + y + "】");
//double z = FormUtil.getDoubleValue(txtRobotZ);
//URPointValue point = new URPointValue(x, y, z, FormUtil.getDoubleValue(lblRobotRX), FormUtil.getDoubleValue(lblRobotRY), FormUtil.getDoubleValue(lblRobotRZ));
////判断原点的Z轴
//if (z > URRobotControl.Robot_LIM_Z)
//{
// MessageBox.Show("保存失败，焊点Z坐标("+z+")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")");
// return;
//}
//AddNewPoint(point);
//liUpdateTime_LinkClicked(null, null);
}
......@@ -1104,7 +1021,7 @@ namespace URSoldering.Client
private void btnUp_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.X -= StepValue;
point.X += StepValue;
RovotMove(point);
}
......@@ -1112,21 +1029,21 @@ namespace URSoldering.Client
private void btnDown_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.X += StepValue;
point.X -= StepValue;
RovotMove(point);
}
private void btnRight_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.Y += StepValue;
point.Y -= StepValue;
RovotMove(point);
}
private void btnLeft_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.Y -= StepValue;
point.Y += StepValue;
RovotMove(point);
}
......
URSolderingClient/FrmBoardList.cs
......@@ -106,10 +106,10 @@ namespace URSoldering.Client
lvi.Text = point.pointName;
lvi.SubItems.Add(point.TypeValue);
lvi.SubItems.Add(point.preheatTemperature.ToString());
lvi.SubItems.Add(point.weldTemperature.ToString());
lvi.SubItems.Add((point.startSendWireSpeed * point.startSendWireTime).ToString());
lvi.SubItems.Add((point.sendWireTime * point.sendWireSpeed).ToString());
lvi.SubItems.Add(point.preheatTemperature.ToString()+ "°C");
lvi.SubItems.Add(point.weldTemperature.ToString() + "°C");
lvi.SubItems.Add((point.startSendWireSpeed * point.startSendWireTime).ToString()+"mm");
lvi.SubItems.Add((point.sendWireTime * point.sendWireSpeed).ToString()+"mm");
this.listPoint.Items.Add(lvi);
i++;
}
......
URSolderingClient/FrmPointInfo.Designer.cs
......@@ -537,18 +537,18 @@
this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(201, 75);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(30, 17);
this.label13.Size = new System.Drawing.Size(41, 17);
this.label13.TabIndex = 58;
this.label13.Text = "mm";
this.label13.Text = "mm/s";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(201, 39);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(30, 17);
this.label12.Size = new System.Drawing.Size(41, 17);
this.label12.TabIndex = 57;
this.label12.Text = "mm";
this.label12.Text = "mm/s";
//
// label5
//
......
URSolderingClient/记录.txt
......@@ -3,7 +3,11 @@
UR机器人是否到位判断条件修改：只判断X.Y.Z坐标是否一致
修改
1，编程里的高度和宽度定义做个示意图。
2，机器人微调:前后左右动作反了。
3，微调动作时，机器人是斜着动作。
4，程序里送丝速度需要加单位（毫米每秒）
......
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