我的创作纪念日

于 2023-05-05 14:06:42 发布
阅读量989 收藏
点赞数 1
分类专栏： 感悟 文章标签： 其他
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/m0_56265052/article/details/130502402
版权

机缘

在这里插入图片描述

时光荏苒，两年时间转瞬即逝。即使现在还是能回想起前年的3月1日应公司自主开发的需求被调到新成立的自动化部门。从原来的设备管理员正式进入新手程序员的行列。通过同事的介绍接触到CSDN，当时正在学习c#很多的资源都会跳转到CSDN网站上。很庆幸CSDN能有这么庞大的用户并且有如此海量的资源，很多博主把问题写的十分全面，方便我程序问题的查找，提升了我项目的效率。

收获

在这里插入图片描述

这两年接触了很多的内容，虽然不是很精深但是都达到了应用的条件：

1.Halcon和c#联合

使用 Halcon 完成项目的模板匹配，二维码识别，二维码等级确认，铸造二维码的识别，双目系统的搭建并获得点云等。
C#配合进行人机界面的设计，逻辑的设计，评分获取及PLC通讯，调取光机动态库控制光机运行等。

2.Python、thonny

使用pycharm IDE 爬取网络资源。使用thonny进行树莓派串口读取以及图片转文字等初步应用。

3.树莓派、arduino

使用树莓派进行神经网络学习。使用arduino进行串口通讯代替plc，可以实现功能，但是串口用一用就内存大，后来用了一个usb开关继电器完成的。

4.Unity

使用unity进行UR机械手通讯，安装虚拟机通过Linux系统下UR虚拟机进行实时显示机械手状态，后续可以使用socket进行数据传送，UR机械手程序写入待机即可。Unity配置MRTK和pico的Pxr-sdk,实现HoloLens和pico的使用。

5.3Dmax

3Dmax可以导出fbx的模型文件，配合unity进行建模。可以进行简单的模型制作及渲染。

6.Azure Kinect

使用Azure Kinect SDK 的window版，实现保存文件。

7.HoloLens

使用HoloLens制作了一个汽车发动机拆卸的项目，基本模型没有什么问题，但是在进行气门运动时候需要将各坐标点反转以及活塞和连杆同步移动时只单纯的加上铰链关节无法满足效果。所以有添加了移动的设定，这个墨迹点但是结果是实现了 。

8.TouchDesigner

Azure Kinect进行时想导出具体的点云的点，window系统下一直无法完成。上YouTube看见TD可以实现，得出点云之后可以进行视频的各种美化但是还是没有导出。整不好后续还得用虚拟机上ROS。之前做协助机器人时候ROS就没有用明白，一直和教程的结果不一样，后续有时间再研究一下。

9.Piconeo3

使用pico做一个小项目，展现自动化部门的成长的轨迹，正在做ing…

日常

在这里插入图片描述

自动化部门主要是进行各个工厂的外观检测的项目，金属表面深度学习等。下班或剩余的时间基本就是按照自己制定的计划进行unity的学习和项目。

成就

放一个c#和海康软件联合的程序，关于标识符检测的代码

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using HRMyTool;
using System.Threading;
using System.Runtime.InteropServices;
using NsIOControllerSDK;
using System.Windows.Media.Imaging;
using System.Drawing.Imaging;
using System.Windows;
using Size = System.Drawing.Size;
using System.Threading.Tasks;
using VM.Core;
using ImageSourceModuleCs;
using GxIAPINET;
using GxIAPINET.Sample.Common;
namespace IOController
{
    public partial class IOController : Form
    {
        IGXFactory m_objIGXFactory = null;                            ///<Factory对像
        IGXDevice m_objIGXDevice = null;                            ///<设备对像
        IGXStream m_objIGXStream = null;                            ///<流对像
        IGXFeatureControl m_objIGXFeatureControl = null;                            ///<远端设备属性控制器对像
        IGXFeatureControl m_objIGXStreamFeatureControl = null;                            ///<流层属性控制器对象
        GxBitmap m_objGxBitmap = null;                            ///<图像显示类对象
        string m_strFilePath = "";                              ///<应用程序当前路径
        public delegate void Action();
        // NPN/PNP State definition
        public enum PNP_ENABLE_STATE
        {
            PNP = 0x01, 
            NPN = 0x02,
        };
        /// <summary>
        /// 构造函数
        /// </summary>
        public IOController()
        {
            InitializeComponent();

            // 获取应用程序的当前执行路径
            m_strFilePath = Directory.GetCurrentDirectory().ToString();
            m_strFilePath = m_strFilePath + "\\GxSingleCamImages";

            //查看是否存在此文件
            if (!Directory.Exists(m_strFilePath))
            {
                Directory.CreateDirectory(m_strFilePath);
            }

            Environment.ExitCode = 1;//获取或设置退出进程的代码
            int nRet = CIOControllerSDK.MV_OK;
            nRet = CIOControllerSDK.MV_IO_WinIO_Init_CS();
            if (nRet != CIOControllerSDK.MV_OK)
            {
                CIOControllerSDK.MV_IO_WinIO_DeInit_CS();
            }
            else
            {
            }
        }
        int count;
        int countNG;
        private void fresh()
        {
            try
            {
                //刷新界面
                m_objIGXFactory = IGXFactory.GetInstance();
                m_objIGXFactory.Init();
                List<IGXDeviceInfo> listGXDeviceInfo = new List<IGXDeviceInfo>();
                __CloseStream();
                __CloseDevice();
                m_objIGXFactory.UpdateDeviceList(200, listGXDeviceInfo);
                // 判断当前连接设备个数
                if (listGXDeviceInfo.Count <= 0)
                {
                    MessageBox.Show("未发现设备!");
                    return;
                }
                // 如果设备已经打开则关闭，保证相机在初始化出错情况下能再次打开
                if (null != m_objIGXDevice)
                {
                    m_objIGXDevice.Close();
                    m_objIGXDevice = null;
                }
                //打开列表第一个设备
                m_objIGXDevice = m_objIGXFactory.OpenDeviceBySN(listGXDeviceInfo[0].GetSN(), GX_ACCESS_MODE.GX_ACCESS_EXCLUSIVE);
                m_objIGXFeatureControl = m_objIGXDevice.GetRemoteFeatureControl();
                //打开流
                if (null != m_objIGXDevice)
                {
                    m_objIGXStream = m_objIGXDevice.OpenStream(0);
                    m_objIGXStreamFeatureControl = m_objIGXStream.GetFeatureControl();
                }
                m_objGxBitmap = new GxBitmap(m_objIGXDevice, m_pic_ShowImage);
                //开启采集流通道
                if (null != m_objIGXStream)
                {
                    //RegisterCaptureCallback第一个参数属于用户自定参数(类型必须为引用
                    //类型)，若用户想用这个参数可以在委托函数中进行使用
                    m_objIGXStream.RegisterCaptureCallback(this, __CaptureCallbackPro);
                    m_objIGXStream.StartGrab();
                }
                //发送开采命令
                if (null != m_objIGXFeatureControl)
                {
                    m_objIGXFeatureControl.GetCommandFeature("AcquisitionStart").Execute();
                }
            }
            catch (Exception ex)
            {
                LOG(ex.Message);
            }
        }


        /// <summary>
        /// ch:日志消息 | en:Log message  
        /// </summary>
        private void LOG(string strMessage)
        {
            this.Invoke(new Action(() => { PrintMessage(strMessage); }));
        }
        private void PrintMessage(string strMessage)
        {
            string strMsg = "[" + DateTime.Now + "] " + strMessage;
            rtbMessage.AppendText(strMsg);
        }

        private void btnClearMessage_Click(object sender, EventArgs e)
        {
            rtbMessage.Clear();
            rtbMessage.Refresh();
        }

        /// <summary>
        /// ch:保存信息 | en:Save message 
        /// </summary>
        private void btnSaveMessage_Click(object sender, EventArgs e)
        {
            try
            {
                SaveFileDialog sfd = new SaveFileDialog();
                sfd.RestoreDirectory = true;
                sfd.Filter = "Text|*.txt|*.ALL|*.*";
                sfd.FileName = DateTime.Now.Year.ToString() + DateTime.Now.Month.ToString() + DateTime.Now.Day.ToString()
                        + DateTime.Now.Hour.ToString() + DateTime.Now.Minute.ToString() + DateTime.Now.Second.ToString();
                if (sfd.ShowDialog() == System.Windows.Forms.DialogResult.OK)
                {
                    FileStream fs = new FileStream(sfd.FileName, FileMode.Create);
                    StreamWriter sw = new StreamWriter(fs);
                    foreach (string s in rtbMessage.Lines) sw.WriteLine(s);
                    sw.Close();
                    fs.Close();
                }
                sfd.Dispose();
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.ToString());
            }
        }
        private void VisionController_Resize(object sender, EventArgs e)
        {
            float[] scale = (float[])Tag;
            if (null == scale)
            {
                return;
            }
            int i = 2;
            List<Control> ctrls = MyTool.GetCtrls(this);
            foreach (Control ctrl in ctrls)
            {
                ctrl.Left = (int)(Size.Width * scale[i++]);
                ctrl.Top = (int)(Size.Height * scale[i++]);
                ctrl.Width = (int)(Size.Width / (float)scale[0] * ((Size)ctrl.Tag).Width);
                ctrl.Height = (int)(Size.Height / (float)scale[1] * ((Size)ctrl.Tag).Height);
            }
        }
        public int GetMainGPIInputLevel()
        {
            int nRet = CIOControllerSDK.MV_OK;
            try
            {
                byte[] byteStatus = new byte[1024];

                nRet = CIOControllerSDK.MV_IO_GetMainInputLevel_CS(ref byteStatus[0]);  // 用字节数组接收动态库传过来的字符串
                int nGPIStatus = BitConverter.ToInt32(byteStatus, 0);

                if (CIOControllerSDK.MV_OK != nRet)
                {
                    LOG("Getting the electrical level status failed" + "\r\n");
                    goto MyExit;
                }
                //活塞到位检测触发
                if ((nGPIStatus & 0x01) == 0x01)
                {
                    timer1.Enabled = false;
                    lblGPI1.BackColor = Color.Red;
                    Dalay(1000);
                    //Thread.Sleep(500);
                    if (null != m_objIGXFeatureControl)
                    {
                        m_objIGXFeatureControl.GetCommandFeature("TriggerSoftware").Execute();
                    }
                    else
                    {
                        LOG("无法抓取图片" + "\r\n");
                    }
                    btnProgRun.PerformClick();

                    timer1.Enabled = true;
                }
                else
                {
                    lblGPI1.BackColor = Color.Green;
                }
                //如果timer2停止抓取，需要按此复位键重新开启timer2
                if ((nGPIStatus & 0x04) == 0x04)
                {
                    lblGPI3.BackColor = Color.Red;
                    timer3.Enabled = false;
                    LOG("复位报警按钮" + "\r\n");
                }
                else
                {
                    lblGPI3.BackColor = Color.Green;
                }

                //气缸伸出到位（防止有漏活的情况）
                if ((nGPIStatus & 0x02) == 0x02)
                {
                    lblGPI2.BackColor = Color.Red;
                }
                else
                {
                    lblGPI2.BackColor = Color.Green;
                }


            MyExit:;
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
            }

            return nRet;
        }
        private void btGetGPI_Click(object sender, EventArgs e)
        {
            try
            {
                GetMainGPIInputLevel();
            }
            catch (System.Exception ex)
            {
                LOG(ex.Message);
            }
        }

        public bool Dalay(int ms)
        {
            DateTime now = DateTime.Now;
            int s;
            do
            {
                TimeSpan spand = DateTime.Now - now;
                s = spand.Minutes * 60 * 1000 + spand.Seconds * 1000 + spand.Milliseconds;
                Application.DoEvents();
            }
            while (s < ms);
            return true;
        }
        public int cylinderSensor()
        {
            int nRet = CIOControllerSDK.MV_OK;
            try
            {
                byte[] byteStatus = new byte[1024];

                nRet = CIOControllerSDK.MV_IO_GetMainInputLevel_CS(ref byteStatus[0]);  // 用字节数组接收动态库传过来的字符串
                int nGPIStatus = BitConverter.ToInt32(byteStatus, 0);

                if (CIOControllerSDK.MV_OK != nRet)
                {
                    LOG("Getting the electrical level status failed"+"\r\n");
                    goto MyExit;
                }
                //气缸伸出给气（防止有漏活的情况）
                if ((nGPIStatus & 0x02) == 0x02)
                {
                    lblGPI2.BackColor = Color.Red;
                }
                else
                {
                    lblGPI2.BackColor = Color.Green;
                    timer1.Enabled = true;
                }


            MyExit:;
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
            return nRet;
        }
        public int grab()
        {
            if (null != m_objIGXFeatureControl)
            {
                m_objIGXFeatureControl.GetCommandFeature("TriggerSoftware").Execute();
            }
            else
            {
                LOG("无法抓取图片" + "\r\n");
            }
            int nRet = CIOControllerSDK.MV_OK;
            try
            {
                byte[] byteStatus = new byte[1024];
                nRet = CIOControllerSDK.MV_IO_GetMainInputLevel_CS(ref byteStatus[0]);  // 用字节数组接收动态库传过来的字符串
                int nGPIStatus = BitConverter.ToInt32(byteStatus, 0);
                if (CIOControllerSDK.MV_OK != nRet)
                {
                    LOG("Getting the electrical level status failed" + "\r\n");
                    goto MyExit;
                }
                //活塞到位检测触发
                if ((nGPIStatus & 0x01) == 0x01)
                {
                    timer1.Enabled = false;
                    Thread.Sleep(1000);
                    m_objIGXFeatureControl.GetCommandFeature("TriggerSoftware").Execute();
                    Thread.Sleep(1000);
                    m_objIGXFeatureControl.GetCommandFeature("TriggerSoftware").Execute();
                    btnProgRun.PerformClick();
                    lblGPI1.BackColor = Color.Red;
                }
                else
                {
                    lblGPI1.BackColor = Color.Green;
                }             

            MyExit:;
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
            return nRet;
        }

        public int resetAlarm()
        {
            int nRet = CIOControllerSDK.MV_OK;
            try
            {
                byte[] byteStatus = new byte[1024];

                nRet = CIOControllerSDK.MV_IO_GetMainInputLevel_CS(ref byteStatus[0]);  // 用字节数组接收动态库传过来的字符串
                int nGPIStatus = BitConverter.ToInt32(byteStatus, 0);

                if (CIOControllerSDK.MV_OK != nRet)
                {
                    LOG("Getting the electrical level status failed" + "\r\n");
                    goto MyExit;
                }
                if ((nGPIStatus & 0x04) == 0x04)
                {
                    lblGPI3.BackColor = Color.Red;
                    timer1.Enabled = true;
                    ckbGPO3.Checked = true;
                    btGPOLow.PerformClick();
                    ckbGPO3.Checked = false;

                    LOG("复位报警按钮" + "\r\n");
                }
                else
                {
                    lblGPI3.BackColor = Color.Green;
                }
            MyExit:;
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
            }

            return nRet;
        }

        private void btGPOLow_Click(object sender, EventArgs e)
        {
            int nRet = CIOControllerSDK.MV_OK;
            bool bSelect = false;
            try
            {
                if (ckbGPO1.Checked)
                {
                    bSelect = true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_1;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        //LOG("Sending the command of GPO1 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO1.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO1.ForeColor = Color.Green;
                        //LOG("The command of GPO1 Low Level settings is sent" + "\r\n");
                    }
                    
                }
                if (ckbGPO2.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_2;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        //LOG("Sending the command of GPO2 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO2.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO2.ForeColor = Color.Green;
                        //LOG("The command of GPO2 Low Level settings is sent" + "\r\n");
                    }
                    
                }
                if (ckbGPO3.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_3;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO3 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO3.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO3.ForeColor = Color.Green;
                        //LOG("The command of GPO3 Low Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO4.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_4;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO4 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO4.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO4.ForeColor = Color.Green;
                        LOG("The command of GPO4 Low Level settings is sent" + "\r\n");
                    }
                }
                if (cbGPO5.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_5;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO5 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        cbGPO5.ForeColor = Color.Black;
                    }
                    else
                    {
                        cbGPO5.ForeColor = Color.Green;
                        LOG("The command of GPO5 Low Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO6.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_6;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO6 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO6.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO6.ForeColor = Color.Green;
                        LOG("The command of GPO6 Low Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO7.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_7;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO7 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO7.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO7.ForeColor = Color.Green;
                        LOG("The command of GPO7 Low Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO8.Checked)
                {
                    bSelect |= true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_8;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO8 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO8.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO8.ForeColor = Color.Green;
                        LOG("The command of GPO8 Low Level settings is sent" + "\r\n");
                    }
                }
                if (bSelect == false)
                {
                    LOG("Disable failed" + "\r\n");
                    return;
                }
            }
            catch (Exception)
            {
                LOG("Sending the command failed. Parameters or operations exception occurs" + "\r\n");
            }
        }

        private void btGPOHigh_Click(object sender, EventArgs e)
        {
            int nRet = CIOControllerSDK.MV_OK;
            bool bSelect = false;
            try
            {
                if (ckbGPO1.Checked)
                {
                    bSelect = true;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_1, CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO1 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO1.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO1.ForeColor = Color.Red;
                        LOG("气缸伸出" + "\r\n");
                    }
                    
                }
                if (ckbGPO2.Checked)
                {
                    bSelect = bSelect | true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_2;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO2 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO2.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO2.ForeColor = Color.Red;
                        LOG("气缸回退" + "\r\n");
                    }
                }
                if (ckbGPO3.Checked)
                {
                    bSelect = bSelect |true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_3;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO3 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO3.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO3.ForeColor = Color.Red;
                        LOG("The command of GPO3 High Level settings is sent" + "\r\n");
                    } 
                }
                if (ckbGPO4.Checked)
                {
                    bSelect = bSelect |true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_4;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO4 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO4.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO4.ForeColor = Color.Red;
                        LOG("The command of GPO4 High Level settings is sent" + "\r\n");
                    }
                }
                if (cbGPO5.Checked)
                {
                    bSelect = bSelect | true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_5;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO5 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        cbGPO5.ForeColor = Color.Black;
                    }
                    else
                    {
                        cbGPO5.ForeColor = Color.Red;
                        LOG("The command of GPO5 High Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO6.Checked)
                {
                    bSelect = bSelect | true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_6;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO6 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO6.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO6.ForeColor = Color.Red;
                        LOG("The command of GPO6 High Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO7.Checked)
                {
                    bSelect = bSelect | true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_7;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO7 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO7.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO7.ForeColor = Color.Red;
                        LOG("The command of GPO7 High Level settings is sent" + "\r\n");
                    }
                }
                if (ckbGPO8.Checked)
                {
                    bSelect = bSelect | true;
                    CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_8;
                    CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
                    nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
                    if (CIOControllerSDK.MV_OK != nRet)
                    {
                        LOG("Sending the command of GPO8 High Level settings failed. Error code:" + Convert.ToString(nRet, 16) + "\r\n");
                        ckbGPO8.ForeColor = Color.Black;
                    }
                    else
                    {
                        ckbGPO8.ForeColor = Color.Red;
                        LOG("The command of GPO8 High Level settings is sent" + "\r\n");
                    }
                }
                if(bSelect == false)
                {
                    LOG("Enable failed.");
                    return;
                }
            }
            catch (Exception)
            {
                 LOG("Sending the command failed. Parameters or operations exception occurs" + "\r\n");
            }
        }

        private void btnFilePath_Click(object sender, EventArgs e)
        {              
            //打开本地路径并识别.sol后缀文件
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Filter = "VM Sol File|*.sol*";
            DialogResult openFileRes = openFileDialog.ShowDialog();
            if (DialogResult.OK == openFileRes)
            {
                string str = openFileDialog.FileName;
                LOG(str+ "\r\n");
                LOG("VM程序选择成功" + "\r\n");
                led1.GridentColor = Color.Green;
                VmSolution.Load(str);
                LOG("方案加载成功" + "\r\n");
                led2.GridentColor = Color.Green;
                btnProgRun.Enabled = true;  
                setGL();
            }
            else
            {
                LOG("文件错误" + "\r\n");
            }
        }

        private void btnCleanC_Click(object sender, EventArgs e)
        {
            writeCounter(0);
            writeCounterNG(0);
            readCounter();
            readCounterNG();
        }
        private int readCounter()
        {
            try
            {
                //读取text文件中的检测数值
                FileStream fs = new FileStream(@" D:\P18-P28顶面检测\1.txt", FileMode.Open);
                StreamReader sr = new StreamReader(fs);
                textBox1.Text = sr.ReadLine();
                count = Convert.ToInt32(textBox1.Text);
                sr.Close();
                fs.Close();
            }
            catch (Exception ex)
            {
                LOG(ex.Message + "\r\n");
            }
            return count;
        }
        private int readCounterNG()
        {
            try
            {
                //读取text文件中的检测数值
                FileStream fs = new FileStream(@" D:\P18-P28顶面检测\2.txt", FileMode.Open);
                StreamReader sr = new StreamReader(fs);
                textBox2.Text = sr.ReadLine();
                countNG = Convert.ToInt32(textBox2.Text);
                sr.Close();
                fs.Close();
            }
            catch (Exception ex)
            {
                LOG(ex.Message + "\r\n");
            }
            return countNG;
        }

        private void writeCounter(int j)
        {
            FileStream fs = new FileStream(@" D:\P18-P28顶面检测\1.txt", FileMode.Create);
            StreamWriter sw = new StreamWriter(fs);
            sw.Write(j);
            sw.Close();
            fs.Close();
        }
        private void writeCounterNG(int k)
        {
            FileStream fs = new FileStream(@" D:\P18-P28顶面检测\2.txt", FileMode.Create);
            StreamWriter sw = new StreamWriter(fs);
            sw.Write(k);
            sw.Close();
            fs.Close();
        }

        private void IOController_Load(object sender, EventArgs e)
        {
            limit();
            fresh();
            resetGL();
            resetYL();
            resetRL();
            led1.GridentColor = Color.Red;
            led2.GridentColor = Color.Red;
            led3.GridentColor = Color.WhiteSmoke;
            led4.GridentColor = Color.WhiteSmoke;
            led5.GridentColor = Color.WhiteSmoke;
            led6.GridentColor = Color.WhiteSmoke;
            //读取计数器数量
            readCounter();
            readCounterNG();
            timer1.Enabled = true;
        }
        //关闭摄像头
        private void __CloseDevice()
        {
            try
            {
                //关闭设备
                if (null != m_objIGXDevice)
                {
                    m_objIGXDevice.Close();
                    m_objIGXDevice = null;
                }
            }
            catch (Exception)
            {
            }
        }

        void ImageShowAndSave(IFrameData objIFrameData)
        {
            try
            {
                m_objGxBitmap.Show(objIFrameData);
            }
            catch (Exception)
            {
            }
            string stfFileName = @"D:\P18-P28顶面检测\A.jpg";  // 默认的图像保存名称
            m_objGxBitmap.SaveBmp(objIFrameData, stfFileName);

        }
        /// <summary>
        /// 回调函数,用于获取图像信息和显示图像
        /// </summary>
        /// <param name="obj">用户自定义传入参数</param>
        /// <param name="objIFrameData">图像信息对象</param>
        private void __CaptureCallbackPro(object objUserParam, IFrameData objIFrameData)
        {
            try
            {
                IOController objGxSingleCam = objUserParam as IOController;
                objGxSingleCam.ImageShowAndSave(objIFrameData);
            }
            catch (Exception)
            {
            }
        }
        private void __CloseStream()
        {
            try
            {
                //关闭流
                if (null != m_objIGXStream)
                {
                    m_objIGXStream.Close();
                    m_objIGXStream = null;
                    m_objIGXStreamFeatureControl = null;
                }
            }
            catch (Exception)
            {
            }
        }
        private void setRL()
        {
            int nRet = CIOControllerSDK.MV_OK;
            CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_3;
            CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
            nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
            if (CIOControllerSDK.MV_OK != nRet)
            {
                LOG("Sending the command of GPO3 High Level settings failed. Error code:" + Convert.ToString(nRet, 16));
                ckbGPO3.ForeColor = Color.Black;
            }
            else
            {
                ckbGPO3.ForeColor = Color.Red;
            }
        }
        private void setGL()
        {
            int nRet = CIOControllerSDK.MV_OK;
            nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_1, CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH);
            if (CIOControllerSDK.MV_OK != nRet)
            {
                LOG("Sending the command of GPO1 High Level settings failed. Error code:" + Convert.ToString(nRet, 16));
                ckbGPO1.ForeColor = Color.Black;
            }
            else
            {
                ckbGPO1.ForeColor = Color.Red;
            }

        }
        private void setYL()
        {
            int nRet = CIOControllerSDK.MV_OK;
            CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_2;
            CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_HIGH;
            nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
            if (CIOControllerSDK.MV_OK != nRet)
            {
                LOG("Sending the command of GPO2 High Level settings failed. Error code:" + Convert.ToString(nRet, 16));
                ckbGPO2.ForeColor = Color.Black;
            }
            else
            {
                ckbGPO2.ForeColor = Color.Red;
            }
        }
        private void resetYL()
        {
            int nRet = CIOControllerSDK.MV_OK;
            CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_2;
            CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
            nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
            if (CIOControllerSDK.MV_OK != nRet)
            {
                LOG("Sending the command of GPO1 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16));
                ckbGPO1.ForeColor = Color.Black;
            }
            else
            {
                ckbGPO1.ForeColor = Color.Green;
            }
        }
        private void resetGL()
        {
            int nRet = CIOControllerSDK.MV_OK;
            CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_1;
            CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
            nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
            if (CIOControllerSDK.MV_OK != nRet)
            {
                LOG("Sending the command of GPO1 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16));
                ckbGPO1.ForeColor = Color.Black;
            }
            else
            {
                ckbGPO1.ForeColor = Color.Green;
            }
        }
        private void resetRL()
        {
            int nRet = CIOControllerSDK.MV_OK;
            CIOControllerSDK.MV_IO_MAINPORT_NUMBER nPortIn = CIOControllerSDK.MV_IO_MAINPORT_NUMBER.MV_MAINIO_PORT_3;
            CIOControllerSDK.MV_GIO_LEVEL nStatus = CIOControllerSDK.MV_GIO_LEVEL.MV_GIO_LEVEL_LOW;
            nRet = CIOControllerSDK.MV_IO_SetMainOutputLevel_CS(nPortIn, nStatus);
            if (CIOControllerSDK.MV_OK != nRet)
            {
                LOG("Sending the command of GPO1 Low Level settings failed. Error code:" + Convert.ToString(nRet, 16));
                ckbGPO1.ForeColor = Color.Black;
            }
            else
            {
                ckbGPO1.ForeColor = Color.Green;
            }
        }
        private void btnProgRun_Click(object sender, EventArgs e)
        {
            resetRL();
            resetYL();
            //整体计数器
            count++;
            writeCounter(count);
            try
            {
                ImageSourceModuleTool imageSource = (ImageSourceModuleTool)VmSolution.Instance["流程1.图像源1"];
                imageSource.ModuParams.SetParamValue("AddImage", @"C:\Users\Administrator\Desktop\P18-P28顶面检测new\bin\Debug\PersonImg\A.JPG");
                VmProcedure procedure = (VmProcedure)VmSolution.Instance["流程1"];
                vmRenderControl1.ModuleSource = procedure;
                procedure.Run();
                var moduResult = procedure.ModuResult;
                //vm输出的out （vmID：8，箭头）
                int str1 = moduResult.GetOutputInt("out").pIntVal[0];
                if (str1 == 1) led3.GridentColor = Color.Green; 
                else led3.GridentColor = Color.Red;
                //vm输出的out0 （vmID：9，B）
                int str2 = moduResult.GetOutputInt("out0").pIntVal[0];
                if (str2 == 1) led4.GridentColor = Color.Green; 
                else led4.GridentColor = Color.Red;
                //vm输出的out1 （vmID：10，3A）
                int str3 = moduResult.GetOutputInt("out1").pIntVal[0];
                if (str3 == 1) led5.GridentColor = Color.Green; 
                else led5.GridentColor = Color.Red;

                //vm输出的out2 （vmID：11，宽度）
                float flolimit1 = Convert.ToInt32(txtLimit1.Text);
                float flolimit2= Convert.ToInt32(txtLimit2.Text);
                float str4 = moduResult.GetOutputFloat("out2").pFloatVal[0];
                if (flolimit1 < str4 && str4 < flolimit2) led6.GridentColor = Color.Green; 
                else led6.GridentColor = Color.Red;

                if (str1 == 0 || str2 == 0 || str3 == 0 ||  str4 < flolimit1 || str4 > flolimit2)
                {
                    countNG++;
                    writeCounterNG(countNG);
                    setRL();
                    //出现异常以后把检测拍照停止，外部按钮按下后再进行触发
                    timer1.Enabled = false;
                    timer3.Enabled = true;
                    LOG("活塞检测参数错误！计数器 ToT 数量记录："+ textBox1.Text + "\r\n");
                }
                else
                {
                    setYL();
                    //选择GPO1
                    //气缸伸出丢气
                    ckbGPO1.Checked = true;
                    btGPOLow.PerformClick();
                    ckbGPO1.Checked = false;



                    //如果气缸在后位，并且活塞挡住传感器（红色）
                    if (lblGPI1.BackColor != Color.Green&& lblGPI2.BackColor == Color.Green)
                    {



                        //选择GPO2
                        ckbGPO2.Checked = true;
                        //气缸回退动作
                        btGPOHigh.PerformClick();
                        //气缸回退位置停止0.5s
                        Thread.Sleep(500);



                        Thread.Sleep(2000);
                        //气缸回退丢气
                        btGPOLow.PerformClick();
                        //不选GPO2
                        ckbGPO2.Checked = false;

                        //选择GPO1
                        //气缸伸出丢气
                        ckbGPO1.Checked = true;
                        btGPOHigh.PerformClick();
                        ckbGPO1.Checked = false;
                        timer1.Enabled = true;
                    }
                    else
                    {



                        //选择GPO2
                        ckbGPO2.Checked = true;
                        //气缸回退动作
                        btGPOHigh.PerformClick();
                        //气缸回退位置停止0.5s
                        Thread.Sleep(500);



                        //气缸回退丢气
                        btGPOLow.PerformClick();
                        //不选GPO2
                        ckbGPO2.Checked = false;

                        //选择GPO1
                        //气缸伸出丢气
                        ckbGPO1.Checked = true;
                        btGPOHigh.PerformClick();
                        ckbGPO1.Checked = false;
                        timer1.Enabled = true;
                    }
                }
            }
            catch
            {
                countNG++;
                writeCounterNG(countNG);
                LOG("活塞位匹配上基本图形（气门）异常" + textBox1.Text +  "\r\n");
                led3.GridentColor = Color.Red; led4.GridentColor = Color.Red; led5.GridentColor = Color.Red; led6.GridentColor = Color.Red;
                setRL();
                timer3.Enabled = true;
            }
            readCounter();
            readCounterNG();

        }

        private void IOController_FormClosed(object sender, FormClosedEventArgs e)
        {
            resetGL();
            resetYL();
            resetRL();
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            grab();
        }

        private void timer2_Tick(object sender, EventArgs e)
        {
            cylinderSensor();
        }

        private void timer3_Tick(object sender, EventArgs e)
        {
            resetAlarm();
        }

        private void limit()
        {
            //读取text文件中的检测数值
            FileStream fs1 = new FileStream(@" D:\P18-P28顶面检测\limit1.txt", FileMode.Open);
            StreamReader sr1 = new StreamReader(fs1);
            //limit
            txtLimit1.Text = sr1.ReadLine();
            sr1.Close();
            fs1.Close();

            FileStream fs2 = new FileStream(@" D:\P18-P28顶面检测\limit2.txt", FileMode.Open);
            StreamReader sr2 = new StreamReader(fs2);
            txtLimit2.Text = sr2.ReadLine();
            sr2.Close();
            fs2.Close();
        }


        private void button1_Click(object sender, EventArgs e)
        {
            FileStream fs1 = new FileStream(@" D:\P18-P28顶面检测\limit1.txt", FileMode.Create);
            StreamWriter sw1 = new StreamWriter(fs1);
            sw1.Write(txtLimit1.Text);
            sw1.Close();
            fs1.Close();

            FileStream fs2 = new FileStream(@" D:\P18-P28顶面检测\limit2.txt", FileMode.Create);
            StreamWriter sw2 = new StreamWriter(fs2);
            sw2.Write(txtLimit2.Text);
            sw2.Close();
            fs2.Close();

            limit();

        }

        private void txtLimit1_Leave(object sender, EventArgs e)
        {
            LOG("宽度下限重新设定，设定值："+ txtLimit1.Text);
        }

        private void txtLimit2_Leave(object sender, EventArgs e)
        {
            LOG("宽度上限重新设定，设定值：" + txtLimit2.Text);
        }
    }
}

憧憬

在这里插入图片描述

希望通过努力能多赚点钱，给孩子一个好的生活环境。我就没有什么了，现在所干的技术我很喜欢，挺快乐😄。

锋利成
关注
  • 1
    点赞
  • 踩
  • 0
    收藏
    觉得还不错? 一键收藏
  • 打赏
    打赏
  • 1
    评论
专栏目录
Unity3D 工程机械以及常见机构铰链，关节绑定 插件
沙土地
04-11 9547
Unity3D 工程机械以及常见机构铰链，关节绑定 插件包。
UnityVR--机械臂场景6-三自由度逆向解算1
唐小墨同学的博客
09-03 2779
给机器人一个末端坐标，使机器人自动调整姿态。
Unity / XDreamer 机械运动模块 - 摇杆
coke_326的博客
10-13 853
Unity / XDreamer 机械运动模块 - 平移机构 使用XDreamer 机械模块快速制作机械原理的技能，即使你一行代码也不会都无需担心。包教包会！
MGS-Mechinery（Unity 机械机构关节脚本）
01-25
实现虚拟现实常用到的机械结构的关机绑定脚本，支持曲柄摇杆机构，曲柄滑块机构，四杆铰链机构，以及同步伸缩，序列伸缩机构等，可实现诸如挖掘机，起重机等常见机器的关节绑定。
ExcavatorJointBound（Unity 挖掘机关机绑定）
01-25
Unity虚拟现实开发，挖掘机运动关节绑定，包括动力大臂，连杆，铲斗等均已绑定；读者有兴趣请自行绑定履带；另外，Demo中的模型等资源请自觉不要用于商业目的。
我的创作纪念日哈哈哈哈
最新发布
05-24
我的创作纪念日哈哈哈哈
PDF创作者2.7.rar
07-10
PDF创作者2.7
音乐创作FLASH模板
09-04
音乐创作FLASH模板 音乐模板 灰色模板 html模板 娱乐模板
个人音乐创作网页模板
01-22
个人音乐创作网页模板
我的诗词创作之路
08-19
我的诗词创作之路
连杆运动模拟
huzhongniao的专栏
05-28 2271
闲来无事做拉个连杆运动模拟的Demo，资源里面有原始版本，感兴趣可以玩耍下。 https://download.csdn.net/download/huzhongniao/11211904 ...
用unity的UGUI实现简单摇杆
panghuyou的博客
10-15 213
1.在Canvas下新建一个空对象作为我们的摇杆，命名为Joystick。 摇杆由背景和杆两部分组成，所以在Joystick下新建一个Image作为摇杆的背景，命名为BG。 在BG下新建一个Image作为摇杆的杆，命名为stick，背景和杆的位置和颜色自行调整，结构如下。 2.为BG和stick的Source Image属性添加一个圆形图片，或使用自己准备的素材。 3.新建脚本文件“Joystick”,并挂在Joystick上。 4.在脚本中添加“using Unity Engine.UI;”，并使脚本继承
机器人动力学建模实例：二连杆机械臂
热门推荐
飘零过客
10-08 4万+
机器人动力学方程比较复杂，通常每一个参数矩阵都非常庞大，这里介绍几个简单结构的动力学方程，对于一般的控制算法，可以在这几个动力学方程中进行验证。 1、欧拉-拉格朗日动力学方程 （不考虑摩擦和末端受力）可以写成： ∑j=1ndij(q)q¨j+∑i=1n∑j=1ncijk(q)qi˙qj˙+gi(q)=τi∑j=1ndij(q)q¨j+∑i=1n∑j=1ncijk(q)qi˙qj˙+g...
Unity——摇杆的实现
m0_51743362的博客
03-27 3986
1.先使所有图片达到下面图层结构 bar代表遥感的外圈 InBar代表摇杆的摇杆 2.添加以下代码 using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.EventSystems; public class DragController : MonoBehaviour, IPointerDownHandler, IPointerUpHandler
Unity 摇杆功能的 UGUI 实现
Hustlion 的技术博客
08-13 4896
本文目标 在 Unity 中使用 UGUI 实现摇杆功能，并将此摇杆模块化以提高其通用性。 软件版本 Unity 2018.1.5f1 Personal (64bit) Visual Studio 2017 思路 基于 UnityEngine.UI.ScrollRect 来实现摇块。 ScrollRect 是矩形的，要实现圆形的摇动区域，可通过代码设定摇块可移动半径来实现。...
unity物理关节之--弹簧关节
赖张殷-Eagle
10-10 8785
创建两个cbue，摆成如图所示是形状，请给上方的cube添加 刚体和spring joint,下方的添加刚体，并且把它赋值给下方 cube spring joint的connected body，然后设置spring  joint里面的anchor为“x=0,y=-0.5,z=0”，运行程序并在 scene里面拖动上方的cube，体验unity弹簧关节的强大。我 真的被震惊到了，效果非常
Unity 模拟两个小球位置变化，长度也动态变化
moonlightpeng的博客
11-23 999
1，新建工程做如下设置。 2. Chang.cs using System.Collections; using System.Collections.Generic; using UnityEngine; public class Change : MonoBehaviour { public GameObject sup; public GameObject sdown...
csdn我的创作纪念日
11-06
CSDN我的创作纪念日是指您在CSDN上发布第一篇博客的日期。这个日期对于您来说是非常重要的，因为它标志着您开始了自己的技术博客之旅。在CSDN上，您可以记录自己的学习历程、分享自己的技术经验、结交志同道合的朋友...

“相关推荐”对你有帮助么？

  • 非常没帮助
  • 没帮助
  • 一般
  • 有帮助
  • 非常有帮助
提交
评论 1
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包

打赏作者

锋利成

你的鼓励将是我创作的最大动力

¥1 ¥2 ¥4 ¥6 ¥10 ¥20
扫码支付：¥1
获取中
扫码支付

您的余额不足，请更换扫码支付或充值

打赏作者

实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值