WPF开发经验-实现一种三轴机械手控件
一 引入https://img2023.cnblogs.com/blog/2393052/202301/2393052-20230130164537945-1364671364.gif
考虑实现一种三轴机器人控件。
三轴机器人用来将某种工件从一个位置运送到另一个位置。
其X轴为手臂轴，可以正向和反向运动，它处于末端，直接接触工件；
其T轴为旋转轴，可以对手臂进行旋转；
其Z轴为升降轴，可以对手臂和旋转部分进行升降。
二 RobotControl
定义出机器人的轴动作枚举，轴的动作分为回原点，正向运动，反向运动。
public enum WaferRobotZAction
{
Z_Origin,
Z_CW,
Z_CCW
}
public enum WaferRobotXAction
{
X_Origin,
X_CW,
X_CCW
}
public enum WaferRobotTAction
{
T_Origin,
T_CW,
T_CCW
}声明一个WaferRobotControl的自定义控件，它继承自Control类。
定义一个Wafer属性来表示WaferRobot上的工件。
定义表示X轴动作、T轴动作和Z轴动作的依赖属性，它可以被实际的业务数据源绑定。
当实际的业务数据发生改变时，轴动作属性相应改变，并VisualStateManager来转换控件的状态，以触发样式模板中的动画。
public class WaferRobotControl : Control
{
static WaferRobotControl()
{
DefaultStyleKeyProperty.OverrideMetadata(typeof(WaferRobotControl), new FrameworkPropertyMetadata(typeof(WaferRobotControl)));
}
public static readonly DependencyProperty WaferProperty = DependencyProperty.Register("Wafer", typeof(int), typeof(WaferRobotControl));
public int Wafer { get => (int)GetValue(WaferProperty); set => SetValue(WaferProperty, value); }
public static readonly DependencyProperty RobotZActionProperty = DependencyProperty.Register(
"RobotZAction",
typeof(WaferRobotZAction),
typeof(WaferRobotControl),
new PropertyMetadata(WaferRobotZAction.Z_Origin, RobotZActionPropertyChangedCallback));
public WaferRobotZAction RobotZAction
{
get => (WaferRobotZAction)GetValue(RobotZActionProperty);
set => SetValue(RobotZActionProperty, value);
}
private static void RobotZActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var control = d as WaferRobotControl;
var oldAct = (WaferRobotZAction)e.OldValue;
var newAct = (WaferRobotZAction)e.NewValue;
switch (newAct)
{
case WaferRobotZAction.Z_Origin:
VisualStateManager.GoToState(control, newAct.ToString(), true);
break;
case WaferRobotZAction.Z_CW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
case WaferRobotZAction.Z_CCW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
default:
break;
}
}
public static readonly DependencyProperty RobotXActionProperty = DependencyProperty.Register(
"RobotXAction",
typeof(WaferRobotXAction),
typeof(WaferRobotControl),
new PropertyMetadata(WaferRobotXAction.X_Origin, RobotXActionPropertyChangedCallback));
public WaferRobotXAction RobotXAction
{
get => (WaferRobotXAction)GetValue(RobotXActionProperty);
set => SetValue(RobotXActionProperty, value);
}
private static void RobotXActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var control = d as WaferRobotControl;
var oldAct = (WaferRobotXAction)e.OldValue;
var newAct = (WaferRobotXAction)e.NewValue;
switch (newAct)
{
case WaferRobotXAction.X_Origin:
VisualStateManager.GoToState(control, newAct.ToString(), true);
break;
case WaferRobotXAction.X_CW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
case WaferRobotXAction.X_CCW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
default:
break;
}
}
public static readonly DependencyProperty RobotTActionProperty = DependencyProperty.Register(
"RobotTAction",
typeof(WaferRobotTAction),
typeof(WaferRobotControl),
new PropertyMetadata(WaferRobotTAction.T_Origin, RobotTActionPropertyChangedCallback));
public WaferRobotTAction RobotTAction
{
get => (WaferRobotTAction)GetValue(RobotTActionProperty);
set => SetValue(RobotTActionProperty, value);
}
private static void RobotTActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var control = d as WaferRobotControl;
var oldAct = (WaferRobotTAction)e.OldValue;
var newAct = (WaferRobotTAction)e.NewValue;
switch (newAct)
{
case WaferRobotTAction.T_Origin:
VisualStateManager.GoToState(control, newAct.ToString(), true);
break;
case WaferRobotTAction.T_CW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
case WaferRobotTAction.T_CCW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
default:
break;
}
}
public override void OnApplyTemplate()
{
base.OnApplyTemplate();
VisualStateManager.GoToState(this, WaferRobotZAction.Z_Origin.ToString(), true);
VisualStateManager.GoToState(this, WaferRobotXAction.X_Origin.ToString(), true);
VisualStateManager.GoToState(this, WaferRobotTAction.T_Origin.ToString(), true);
}
}
三 Style
控件模板的实现思路。
将机器人的样式分为三部分，不动的底座部分，Z轴部分，包含T轴和X轴的手臂部分。
VisualStateGroup中定义出轴动作的VisualState，编写转换动画。
https://images.cnblogs.com/OutliningIndicators/ContractedBlock.gifhttps://images.cnblogs.com/OutliningIndicators/ExpandedBlockStart.gifView Code
四 效果演示
界面代码如下：
<Window x:Class="WpfApp1.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:wpfapp1="clr-namespace:WpfApp1"
mc:Ignorable="d" Background="WhiteSmoke"
Title="MainWindow" Height="800" Width="1200">
<Canvas>
<wpfapp1:WaferRobotControl Canvas.Left="472" Canvas.Top="171" x:Name="robot"/>
<Button Content="Z CW" Canvas.Left="757" Canvas.Top="338" Width="60" Height="30" Click="ZCWButton_Click" />
<Button Content="Z CCW" Canvas.Left="757" Canvas.Top="388" Width="60" Height="30" Click="ZCCWButton_Click"/>
<Button Content="X CW" Canvas.Left="838" Canvas.Top="338" Width="60" Height="30" Click="XCWButton_Click"/>
<Button Content="X CCW" Canvas.Left="838" Canvas.Top="389" Width="60" Height="30" Click="XCCWButton_Click"/>
<Button Content="T CW" Canvas.Left="919" Canvas.Top="338" Width="60" Height="30" Click="TCWButton_Click"/>
<Button Content="T CCW" Canvas.Left="919" Canvas.Top="389" Width="60" Height="30" Click="TCCWButton_Click"/>
<Button Content="Auto" Canvas.Left="757" Canvas.Top="439" Width="60" Height="30" Click="AutoButton_Click"/>
</Canvas>
</Window>
后台代码如下：
public partial class MainWindow : Window
{
public MainWindow()
{
InitializeComponent();
}
private void ZCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotZAction = WaferRobotZAction.Z_CW;
}
private void ZCCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotZAction = WaferRobotZAction.Z_CCW;
}
private void XCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotXAction = WaferRobotXAction.X_CW;
}
private void XCCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotXAction = WaferRobotXAction.X_CCW;
}
private void TCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotTAction = WaferRobotTAction.T_CW;
}
private void TCCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotTAction = WaferRobotTAction.T_CCW;
}
private async void AutoButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotTAction = WaferRobotTAction.T_CCW;
await Task.Delay(1000);
robot.RobotXAction = WaferRobotXAction.X_CW;
await Task.Delay(2000);
robot.Wafer = 1;
await Task.Delay(200);
robot.RobotXAction = WaferRobotXAction.X_CCW;
await Task.Delay(2000);
robot.RobotZAction = WaferRobotZAction.Z_CW;
await Task.Delay(1000);
robot.RobotTAction = WaferRobotTAction.T_CW;
await Task.Delay(1000);
robot.RobotXAction = WaferRobotXAction.X_CW;
await Task.Delay(2000);
robot.Wafer = 0;
await Task.Delay(200);
robot.RobotXAction = WaferRobotXAction.X_CCW;
await Task.Delay(2000);
robot.RobotTAction = WaferRobotTAction.T_Origin;
await Task.Delay(1000);
robot.RobotZAction = WaferRobotZAction.Z_CCW;
}
}
本文作者： 一团静火
本文链接： https://www.cnblogs.com/wwwen/p/17076289.html
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