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📄 ctestdlg.cpp

📁 可以实现PC机与首钢MOTOMAN up6机器人的连接
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123 
}

void CCTestDlg::OnRight() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=10;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();     
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnUp() 
{
	// TODO: Add your control notification handler code here
		  
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=10;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnLeft() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=-10;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnDown() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=-10;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnForard() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=10;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_spd,"BASE",Form,0,SetPulse);	
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnBehind() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=-10;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_spd,"BASE",Form,0,SetPulse);	
//判断机器人是否停止运动
      Delay();  
 //获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnTurnx() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=10;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","VR",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnTurny() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=10;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","VR",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnTurnz() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=10; 
      BscMov(nCid,"IMOV","VR",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnReverseTurnx() 
{
	// TODO: Add your control notification handler code here
	
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=-10;     
      SetPulse[4]=0;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","VR",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnReverseTurny() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=-10;     
      SetPulse[5]=0; 
      BscMov(nCid,"IMOV","VR",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnReverseTurnz() 
{
	// TODO: Add your control notification handler code here
	  SetPulse[0]=0;   
      SetPulse[1]=0;     
      SetPulse[2]=0;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=-10; 
      BscMov(nCid,"IMOV","VR",m_spd,"BASE",Form,0,SetPulse);
//判断机器人是否停止运动
      Delay();  
 //获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}


void CCTestDlg::OnHighspe() 
{
	// TODO: Add your control notification handler code here
	m_spd=50.000;
	UpdateData(FALSE);
}

void CCTestDlg::OnMidspe() 
{
	// TODO: Add your control notification handler code here
	m_spd=30.000;
	UpdateData(FALSE);
}

void CCTestDlg::OnLowspe() 
{
	// TODO: Add your control notification handler code here
	m_spd=10.000;
	UpdateData(FALSE);
}

void CCTestDlg::OnMinispe() 
{
	// TODO: Add your control notification handler code here
	m_spd=1.00;
	UpdateData(FALSE);
}


void CCTestDlg::OnSaxispulse() 
{
	// TODO: Add your control notification handler code here
      UpdateData(TRUE);     
      SetPulse[0]=m_sAxis-m_pulse;
      SetPulse[1]=m_lAxis;     
      SetPulse[2]=m_uAxis;   
      SetPulse[3]=m_rAxis;     
      SetPulse[4]=m_bAxis;     
      SetPulse[5]=m_tAxis;     
      BscPMovj(nCid,m_spd,0,SetPulse);
//判断机器人运动是否停止	
      do
	  { 
	     k=m_sAxis;
         Sleep (1);  
		 BscIsLoc(nCid,1,rconf,GetPulse);	  
         m_sAxis=GetPulse[0];        
	  }
	  while(k!=m_sAxis);

	 
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);
}

void CCTestDlg::OnRsaxispulse() 
{
	// TODO: Add your control notification handler code here
      UpdateData(TRUE);     
      SetPulse[0]=m_sAxis+m_pulse;
      SetPulse[1]=m_lAxis;     
      SetPulse[2]=m_uAxis;   
      SetPulse[3]=m_rAxis;     
      SetPulse[4]=m_bAxis;     
      SetPulse[5]=m_tAxis;     
      BscPMovj(nCid,m_spd,0,SetPulse);
//判断机器人运动是否停止	
      do
	  { 
	     k=m_sAxis;
         Sleep (1);  
		 BscIsLoc(nCid,1,rconf,GetPulse);	  
         m_sAxis=GetPulse[0];        
	  }
	  while(k!=m_sAxis);    //停止继续往下执行

	 
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);	
}

void CCTestDlg::OnLaxispulse() 
{
	// TODO: Add your control notification handler code here
      UpdateData(TRUE);     
      SetPulse[0]=m_sAxis; 
      SetPulse[1]=m_lAxis-m_pulse;    
      SetPulse[2]=m_uAxis;   
      SetPulse[3]=m_rAxis;     
      SetPulse[4]=m_bAxis;     
      SetPulse[5]=m_tAxis;     
      BscPMovj(nCid,m_spd,0,SetPulse);
//判断机器人运动是否停止	
      do
	  { 
	     k=m_lAxis;
         Sleep (1);  
		 BscIsLoc(nCid,1,rconf,GetPulse);	  
         m_lAxis=GetPulse[1];        
	  }
	  while(k!=m_lAxis);    //停止继续往下执行	 
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);	
}

void CCTestDlg::OnRlaxispulse() 
{
	// TODO: Add your control notification handler code here
      UpdateData(TRUE);     
      SetPulse[0]=m_sAxis;
      SetPulse[1]=m_lAxis+m_pulse;     
      SetPulse[2]=m_uAxis;
123

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