jointmove.cpp

可以实现PC机与首钢MOTOMAN up6机器人的连接

// JOINTMOVE.cpp : implementation file
//

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

/////////////////////////////////////////////////////////////////////////////
// CJOINTMOVE dialog

double setpulse[6];//	定义输入脉冲
extern short nCid;
CJOINTMOVE::CJOINTMOVE(CWnd* pParent /*=NULL*/)
	: CDialog(CJOINTMOVE::IDD, pParent)
{
	//{{AFX_DATA_INIT(CJOINTMOVE)
	m_bpulse = 0.0;
	m_lpulse = 0.0;
	m_rpulse = 0.0;
	m_spulse = 0.0;
	m_tpulse = 0.0;
	m_upulse = 0.0;
	m_speed = 10.0;
	//}}AFX_DATA_INIT
}


void CJOINTMOVE::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CJOINTMOVE)
	DDX_Text(pDX, IDC_B, m_bpulse);
	DDX_Text(pDX, IDC_L, m_lpulse);
	DDX_Text(pDX, IDC_R, m_rpulse);
	DDX_Text(pDX, IDC_S, m_spulse);
	DDX_Text(pDX, IDC_T, m_tpulse);
	DDX_Text(pDX, IDC_U, m_upulse);
	DDX_Text(pDX, IDC_SPEED, m_speed);
	DDV_MinMaxDouble(pDX, m_speed, 0., 100.);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CJOINTMOVE, CDialog)
	//{{AFX_MSG_MAP(CJOINTMOVE)
	ON_BN_CLICKED(IDC_DO, OnDo)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CJOINTMOVE message handlers

void CJOINTMOVE::OnDo() 
{
	// TODO: Add your control notification handler code here
	  UpdateData(true);   
	  setpulse[0]=m_spulse;   
      setpulse[1]=m_lpulse;     
      setpulse[2]=m_upulse;   
      setpulse[3]=m_rpulse;     
      setpulse[4]=m_bpulse;     
      setpulse[5]=m_tpulse;     
      BscPMovj(nCid,m_speed,0,setpulse);
}