zhijiaozuobiao.cpp

可以实现PC机与首钢MOTOMAN up6机器人的连接

// ZHIJIAOZUOBIAO.cpp : implementation file
//

#include "stdafx.h"
#include "CTest.h"
#include "ZHIJIAOZUOBIAO.h"
#include <direct.h>
#include "motocom.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CZHIJIAOZUOBIAO dialog
extern short nCid;
       double weizi[6];
extern unsigned short Form,*rconf;  //机器人形式

CZHIJIAOZUOBIAO::CZHIJIAOZUOBIAO(CWnd* pParent /*=NULL*/)
	: CDialog(CZHIJIAOZUOBIAO::IDD, pParent)
{
	//{{AFX_DATA_INIT(CZHIJIAOZUOBIAO)
	m_tx = 0.0;
	m_ty = 0.0;
	m_tz = 0.0;
	m_x = 0.0;
	m_y = 0.0;
	m_z = 0.0;
	m_speed = 10.0;
	//}}AFX_DATA_INIT
}


void CZHIJIAOZUOBIAO::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CZHIJIAOZUOBIAO)
	DDX_Text(pDX, IDC_TX, m_tx);
	DDX_Text(pDX, IDC_TY, m_ty);
	DDX_Text(pDX, IDC_TZ, m_tz);
	DDX_Text(pDX, IDC_X, m_x);
	DDX_Text(pDX, IDC_Y, m_y);
	DDX_Text(pDX, IDC_Z, m_z);
	DDX_Text(pDX, IDC_SPEED, m_speed);
	DDV_MinMaxDouble(pDX, m_speed, 0., 100.);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CZHIJIAOZUOBIAO, CDialog)
	//{{AFX_MSG_MAP(CZHIJIAOZUOBIAO)
	ON_BN_CLICKED(IDC_EXECUTE, OnExecute)
	ON_BN_CLICKED(IDCANCEL, OnOK)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CZHIJIAOZUOBIAO message handlers

void CZHIJIAOZUOBIAO::OnExecute() 
{
	// TODO: Add your control notification handler code here
	UpdateData(true);
    weizi[0]=m_x;
	weizi[1]=m_y;
	weizi[2]=m_z;
	weizi[3]=m_tx;
	weizi[4]=m_ty;
	weizi[5]=m_tz;
    BscMov(nCid,"MOVL","V",m_speed,"BASE",Form,0,weizi);	
}

void CZHIJIAOZUOBIAO::OnOK() 
{
	// TODO: Add your control notification handler code here

	CDialog::OnCancel();//EndDialog(IDOK);
}