小炒锅菜品库基本稳定版本

BPASmartClient.MorkF/ML_MorkF.cs

@@ -43,17 +43,7 @@ namespace BPASmartClient.MorkF
         {
             get
             {
-                var ret = _ArriveComplete;
-                _ArriveComplete = false;
-                if(ret)
-                {
-                    MessageLog.GetInstance.Show("到达上升沿为true");
-                }
-                else
-                {
-                    MessageLog.GetInstance.Show("到达上升沿为false");
-                }
-                return ret;
+                return _ArriveComplete;
             }
             set
             {

BPASmartClient.MorkF/MaterialOperation.cs

@@ -6,19 +6,20 @@ using System.Threading.Tasks;
 
 namespace BPASmartClient.MorkF
 {
+    public class Coordinate
+    {
+        public int X { get; set; } = 0;
+
+        public int Y { get; set; } = 0;
+    }
+
     /// <summary>
     /// 菜品库操作类
     /// </summary>
     internal class MaterialOperation
     {
-        /// <summary>
-        /// x轴坐标
-        /// </summary>
-        public int x;
-        /// <summary>
-        /// y轴坐标
-        /// </summary>
-        public int y;
+        public Coordinate coordinate { get; set; } = new Coordinate();
+
         /// <summary>
         /// 炒锅编号
         /// </summary>

BPASmartClient.MorkF/View/DebugView.xaml

@@ -89,7 +89,7 @@
                     <TextBlock Text="移动速度:" Margin="5,0"/>
                     <TextBox Text="{Binding MoveSpeed}" Width="70" Margin="5,0"  VerticalAlignment="Center"  />
                     <Button Content="设定" Command="{Binding SetSpeed}" Cursor="Hand"   Margin="5,0,10,0" />
-                    <Button Content="感应器1测距" Margin="5,0" Command="{Binding GetDistance_1}"/>
+                    <Button Content="感应器1测距" Margin="5,0" Command="{Binding GetDistance_1}" Cursor="Hand"/>
                     <TextBox Text="{Binding SensingDistance_1}" Margin="5,0" Width="60" IsReadOnly="True"/>
                     <Button Content="感应器2测距" Margin="5,0" Command="{Binding GetDistance_2}"/>
                     <TextBox Text="{Binding SensingDistance_2}" Margin="5,0" Width="60" IsReadOnly="True"/>
@@ -107,15 +107,15 @@
                 <WrapPanel Grid.Row="3" Orientation="Horizontal" >
                     <Button  Content="夹爪正转" Command="{Binding PawTurnFront}" Margin="5,0" Cursor="Hand"/>
                     <Button  Content="夹爪反转" Command="{Binding PawTurnBack}" Margin="5,0" Cursor="Hand"/>
-                    <RadioButton Content="位置1" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PawPositon1}" Command="{Binding GetDistance_1}" GroupName="PawTurn"/>
-                    <RadioButton Content="位置2" Margin="5,0" IsEnabled="True" IsChecked="{Binding PawPositon2}"  Command="{Binding GetDistance_2}" GroupName="PawTurn"/>
-                    <RadioButton Content="位置3" Margin="5,0 " IsEnabled="True" IsChecked="{Binding PawPositon3}" Command="{Binding GetDistance_3}" GroupName="PawTurn"/>
+                    <RadioButton Content="位置1" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PawPositon1}" Command="{Binding PawToPoint1}" GroupName="PawTurn"/>
+                    <RadioButton Content="位置2" Margin="5,0" IsEnabled="True" IsChecked="{Binding PawPositon2}"  Command="{Binding PawToPoint2}" GroupName="PawTurn"/>
+                    <RadioButton Content="位置3" Margin="5,0 " IsEnabled="True" IsChecked="{Binding PawPositon3}" Command="{Binding PawToPoint3}" GroupName="PawTurn"/>
                 </WrapPanel>
                 <WrapPanel Grid.Row="4" Orientation="Horizontal" >
-                    <RadioButton Content="上" Margin="5,0"  IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunUp}" Command="{Binding GetDistance_1}" GroupName="ArmRun"/>
-                    <RadioButton Content="下" Margin="5,0" IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunDown}"  Command="{Binding GetDistance_2}" GroupName="ArmRun"/>
-                    <RadioButton Content="左" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunLeft}" Command="{Binding GetDistance_3}" GroupName="ArmRun"/>
-                    <RadioButton Content="右" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunRight}" Command="{Binding GetDistance_3}" GroupName="ArmRun"/>
+                    <RadioButton Content="上" Margin="5,0"  IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunUp}" GroupName="ArmRun"/>
+                    <RadioButton Content="下" Margin="5,0" IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunDown}" GroupName="ArmRun"/>
+                    <RadioButton Content="左" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunLeft}" GroupName="ArmRun"/>
+                    <RadioButton Content="右" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunRight}" GroupName="ArmRun"/>
                     <Button Content="{Binding ArmButtonName}" Command="{Binding ArmRun}" Margin="5,0" Cursor="Hand">
                     </Button>
                 </WrapPanel>

BPASmartClient.MorkF/ViewModel/DebugViewModel.cs

@@ -96,6 +96,9 @@ namespace BPASmartClient.MorkF.ViewModel
         public RelayCommand PawTurnBack { get; set; }//夹爪反转
         public RelayCommand SetArmPosition { get; set; }//机器臂位置设定
         public RelayCommand ArmRun { get; set; }//机械臂运动
+        public RelayCommand PawToPoint1 { get; set; }//感应测距1
+        public RelayCommand PawToPoint2 { get; set; }//感应测距2
+        public RelayCommand PawToPoint3 { get; set; }//感应测距3
 
         #endregion
 
@@ -207,8 +210,11 @@ namespace BPASmartClient.MorkF.ViewModel
             StopElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { true });});//电磁阀关闭
             SetSpeed = new RelayCommand(() => 
             { 
-                ActionManage.GetInstance.Send("SetSpeed", new List<int> { MoveSpeed });
+                ActionManage.GetInstance.Send("SetSpeed", new List<int> { MoveSpeed }); 
             });//设定速度
+            PawToPoint1 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint1"); });//爪子去1号位
+            PawToPoint2 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint2"); });//爪子去2号位
+            PawToPoint3 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint3"); });//爪子去3号位
             GetDistance_1 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_1"); });//感应距离1
             GetDistance_2 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_2"); });//感应距离2
             GetDistance_3 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_3"); });//感应距离3