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📄 motomandlg.cpp

📁 vc++ aaaaa
💻 CPP
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123 
	  { 
	     k0=m_sAxis;
		 k1=m_lAxis;
		 k2=m_uAxis;
		 k3=m_bAxis;
         k4=m_rAxis;
		 k5=m_tAxis;
         Sleep (1);  
		 BscIsLoc(nCid,1,rconf,GetPulse);	  
         m_sAxis=GetPulse[0];
		 m_lAxis=GetPulse[1];
		 m_uAxis=GetPulse[2];
		 m_bAxis=GetPulse[3];
		 m_rAxis=GetPulse[4];
		 m_tAxis=GetPulse[5];
              MSG   msg;   
              while   (::PeekMessage(&msg,   NULL,   0,   0,   PM_REMOVE))   
              {   
                  ::TranslateMessage(&msg);   
                  ::DispatchMessage(&msg);   
              }   
    
	  }
	  while(k0!=m_sAxis||k1!=m_lAxis||k2!=m_uAxis||k3!=m_bAxis||k4!=m_rAxis||k5!=m_tAxis);
}

void CMotomanDlg::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_speed,"BASE",Form,0,SetPulse);
	//判断机器人是否停止运动
    //Delay();  
	int zhi=BscJobWait(nCid,-1);
	//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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnForword() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnBackword() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnXturn() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnXreturn() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnYturn() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnYreturn() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnZturn() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnZreturn() 
{
	// 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_speed,"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];

	//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xEnd=GetPos[0];
	m_yEnd=GetPos[1];
	m_zEnd=GetPos[2];  	
	m_rxEnd=GetPos[3];
	m_ryEnd=GetPos[4];
	m_rzEnd=GetPos[5];
	UpdateData(FALSE);
}

void CMotomanDlg::OnSpulse() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);     
    SetPulse[0]=m_sAxis-3000;
    SetPulse[1]=m_lAxis;     
    SetPulse[2]=m_uAxis;   
    SetPulse[3]=m_rAxis;     
    SetPulse[4]=m_bAxis;     
    SetPulse[5]=m_tAxis;     
    BscPMovj(nCid,m_speed,0,SetPulse);
	//判断机器人运动是否停止	
	Delay(); 
	//获取机器人各轴脉冲
	BscIsLoc(nCid,1,rconf,GetPulse);
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