| #include "arm.h"
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| ARM::ARM(HROBOT r)
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| {
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| this->robot = r;
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| if (robot == -1)
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| {
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| cout << "robot connect error" << endl;
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| }
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| else
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| {
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| cout << "robot connect" << endl;
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| speed_limit_off(robot);
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| set_motor_state(robot, 1);
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| }
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| set_override_ratio(robot, overrideRatio);
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| Sleep(100);
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| set_lin_speed(robot, linSpeed);
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| Sleep(100);
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| set_acc_dec_ratio(robot, AccelerationRatio);
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| Sleep(100);
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| set_ptp_speed(robot, ptpSpeed);
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| Sleep(100);
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| }
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| void ARM::goThePos(double pos[6]) {
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| ptp_pos(robot, 0, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::goThePos(const double pos[6]) {
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| double new_pos[6];
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| for (int i = 0; i < 6; i++)
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| new_pos[i] = pos[i];
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| ptp_pos(robot, 0, new_pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::lineGoThePos(const double pos[6]) {
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| double new_pos[6];
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| for (int i = 0; i < 6; i++)
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| new_pos[i] = pos[i];
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| lin_pos(robot, 1, 80, new_pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::lineGoThePosRel(const double pos[6]) {
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| double new_pos[6];
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| for (int i = 0; i < 6; i++)
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| new_pos[i] = pos[i];
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| lin_rel_pos(robot, 1, 80, new_pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::goTheAxis(double pos[6]) {
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| ptp_axis(robot, 1, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::goTheAxis(const double pos[6]) {
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| double new_pos[6];
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| for (int i = 0; i < 6; i++)
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| new_pos[i] = pos[i];
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| ptp_axis(robot, 1, new_pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::getNowPos(double pos[6]) {
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| get_current_position(robot, pos);
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| }
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| void ARM::goHome() {
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| double home_axis[6] = { 0.0,13.896,-14.014,0.0,-89.881,0.0 };
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| ptp_axis(robot, 0, home_axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setSpeed(int speed) {
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| overrideRatio = speed;
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| set_override_ratio(robot, overrideRatio);
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| Sleep(100);
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| }
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| void ARM::setPosX(double x) {
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| double pos[6];
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| get_current_position(robot, pos);
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| pos[0] = x;
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| ptp_pos(robot, 1, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setPosY(double y) {
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| double pos[6];
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| get_current_position(robot, pos);
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| pos[1] = y;
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| ptp_pos(robot, 1, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setPosXY(double x, double y) {
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| double pos[6];
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| get_current_position(robot, pos);
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| pos[0] = x;
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| pos[1] = y;
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| ptp_pos(robot, 1, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setPosRX(double rx) {
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| double pos[6];
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| get_current_position(robot, pos);
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| pos[4] = rx;
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| ptp_pos(robot, 1, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setptpSpeed(int ptpspeed) {
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| ptpSpeed = ptpspeed;
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| set_ptp_speed(robot, ptpSpeed);
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| Sleep(100);
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| }
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| void ARM::setPosZ(double z) {
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| double pos[6];
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| get_current_position(robot, pos);
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| pos[2] = z;
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| lin_pos(robot, 0, 0, pos);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setAxisJ2(double j2) {
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| double axis[6];
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| get_current_joint(robot, axis);
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| axis[1] = j2;
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| ptp_axis(robot, 1, axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setAxisJ5(double j5) {
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| double axis[6];
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| get_current_joint(robot, axis);
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| axis[4] = j5;
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| ptp_axis(robot, 1, axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setAxisJ1(double j1) {
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| double axis[6];
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| get_current_joint(robot, axis);
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| axis[0] = j1;
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| ptp_axis(robot, 1, axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| }
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| void ARM::setAxisJ3J5(double j3, double j5) {
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| double axis[6];
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| get_current_joint(robot, axis);
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| axis[2] = j3;
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| axis[4] = j5;
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| ptp_axis(robot, 1, axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| }
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| void ARM::setAxisJ2J3J5(double j2, double j3, double j5) {
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| double axis[6];
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| get_current_joint(robot, axis);
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| axis[1] = j2;
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| axis[2] = j3;
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| axis[4] = j5;
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| ptp_axis(robot, 1, axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| }
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| void ARM::cup_300ml() {
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| double pos_step1[6] = { 0.0,512.245,91.830,180.0,-24.482,90.0 };
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| goThePos(pos_step1);
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| Sleep(1000);
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| double axis_step1[6] = { 0.0,-16.225,-34.805,-0.061,13.318,0.042 };
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| goTheAxis(axis_step1);
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| Sleep(2000);
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| double axis[6] = { 0.0,-15.577,-38.777,-0.051,27.159,0.032 };
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| goTheAxis(axis);
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| Sleep(8000);
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| }
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| void ARM::getNowAxis(double* axis) {
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| get_current_joint(robot, axis);
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| }
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| void ARM::setAxisJ6(double j6) {
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| double axis[6];
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| get_current_joint(robot, axis);
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| axis[5] = j6;
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| ptp_axis(robot, 1, axis);
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| while (1) {
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| if (get_motion_state(robot) == 1)
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| break;
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| }
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| Sleep(100);
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| } |
