zhijiao.cpp

可以实现PC机与首钢MOTOMAN up6机器人的连接

// ZHIJIAO.cpp : implementation file
//

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

/////////////////////////////////////////////////////////////////////////////
// CZHIJIAO dialog
//定义全局变量
extern short nCid;
       double Pulse[6];
extern unsigned short Form,*rconf;  //机器人形式
CZHIJIAO::CZHIJIAO(CWnd* pParent /*=NULL*/)
	: CDialog(CZHIJIAO::IDD, pParent)
{
	//{{AFX_DATA_INIT(CZHIJIAO)
	m_speed = 10.0;
	m_angle = 2.0;
	//}}AFX_DATA_INIT
}


void CZHIJIAO::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CZHIJIAO)
	DDX_Text(pDX, IDC_SPEED, m_speed);
	DDV_MinMaxDouble(pDX, m_speed, 0., 100.);
	DDX_Text(pDX, IDC_ANGLE, m_angle);
	DDV_MinMaxDouble(pDX, m_angle, -50., 50.);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CZHIJIAO, CDialog)
	//{{AFX_MSG_MAP(CZHIJIAO)
	ON_BN_CLICKED(IDC_UP, OnUp)
	ON_BN_CLICKED(IDC_LEFT, OnLeft)
	ON_BN_CLICKED(IDC_FORARD, OnForard)
	ON_BN_CLICKED(IDC_BEHIND, OnBehind)
	ON_BN_CLICKED(IDC_DOWN, OnDown)
	ON_BN_CLICKED(IDC_RIGHT, OnRight)
	ON_BN_CLICKED(IDC_TURNX, OnTurnx)
	ON_BN_CLICKED(IDC_REVERSE_TURNX, OnReverseTurnx)
	ON_BN_CLICKED(IDC_TURNY, OnTurny)
	ON_BN_CLICKED(IDC_REVERSE_TURNY, OnReverseTurny)
	ON_BN_CLICKED(IDC_TURNZ, OnTurnz)
	ON_BN_CLICKED(IDC_REVERSE_TURNZ, OnReverseTurnz)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CZHIJIAO message handlers

void CZHIJIAO::OnUp() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=10;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_speed,"BASE",Form,0,Pulse);
}

void CZHIJIAO::OnLeft() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=-10;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_speed,"BASE",Form,0,Pulse);
}

void CZHIJIAO::OnForard() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=10;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_speed,"BASE",Form,0,Pulse);
}

void CZHIJIAO::OnBehind() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=-10;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_speed,"BASE",Form,0,Pulse);
}

void CZHIJIAO::OnDown() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=-10;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_speed,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnRight() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=10;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_speed,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnTurnx() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=10;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_angle,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnReverseTurnx() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=-10;     
      Pulse[4]=0;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_angle,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnTurny() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=10;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_angle,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnReverseTurny() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=-10;     
      Pulse[5]=0; 
      BscMov(nCid,"IMOV","V",m_angle,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnTurnz() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=10; 
      BscMov(nCid,"IMOV","V",m_angle,"BASE",Form,0,Pulse);	
}

void CZHIJIAO::OnReverseTurnz() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);
	  Pulse[0]=0;   
      Pulse[1]=0;     
      Pulse[2]=0;   
      Pulse[3]=0;     
      Pulse[4]=0;     
      Pulse[5]=-10; 
      BscMov(nCid,"IMOV","V",m_angle,"BASE",Form,0,Pulse);	
}