自动锁螺丝机造作指南(六) 接口编程

david

1. 初始化程序
   
2. 初始化函数如下：
   
3. 
   
4. /*定义串口全局变量*/
   
5. var serial;
   
6. 
   
7. /*打开与运动控制器连接的串口*/
   
8. function motor_open()
   
9. {
   
10.     serail = _serial.open({speed:115200,prity:0,data_bit:8,stop_bit:0});
    
11.     return serail;
    
12. }
    
13. 
    
14. /*串口参数检查*/
    
15. function motor_check()
    
16. {
    
17.     serail.check({speed:115200,prity:0,data_bit:8,stop_bit:0});
    
18. }
    
19. 
    
20. /*运动机构执行程序*/
    
21. function motor_go(opt)
    
22. {
    
23.     serail.write('G01 X'+opt.x+' Y'+opt.y+' F200\n');
    
24. }
    
25. 
    
26. /*打开运动控制器*/
    
27. motor_open();
    
28. 接口程序
    
29. /*运动控制接口*/
    
30. _http.post('/usr/motor',function(opt){
    
31.     print('G01 X'+opt.x+' Y'+opt.y+' F200\n');
    
32.     _http.response('ok');
    
33.     motor_check();
    
34.     motor_go(opt);
    
35. 
    
36.     math_variables_1.variables.robot_loc_y = opt.y;
    
37.     math_variables_1.variables.robot_loc_x = opt.x;
    
38.     _applet.sync('math_variables_1');
    
39. });
    
40. 
    
41. /*GCode测试接口*/
    
42. _http.get('/usr/gcode',function(opt){
    
43.     print('G01 X'+opt.x+' Y'+opt.y+' F200\n');
    
44.     _http.response('ok');
    
45.     motor_check();
    
46.     motor_go(opt);
    
47. });
    
48. 
    
49. /*获取运动机构位置接口*/
    
50. _http.get('/usr/reqloc',function(opt){
    
51.     _http.response(JSON.stringify(math_variables_2.variables));
    
52. });
    
53. 
    
54. /*增加螺丝孔位置接口*/
    
55. _http.get('/usr/addloc',function(opt){
    
56.     _http.response('ok');
    
57.     var i = parseInt(math_variables_2.total/3);
    
58.     print('total count:'+i);
    
59.     var n = i;
    
60.     var xdiff = math_variables_1.variables.cam_org_x - math_variables_1.variables.robot_org_x;
    
61.     var ydiff = math_variables_1.variables.cam_org_y - math_variables_1.variables.robot_org_y;
    
62.     math_variables_2.variables['loc_'+n+'_x'] = opt.x - xdiff;
    
63.     math_variables_2.variables['loc_'+n+'_y'] = opt.y - ydiff;
    
64.     math_variables_2.variables['loc_'+n+'_z'] = opt.z;
    
65.     _applet.sync('math_variables_2');
    
66.     print('X:'+screw_loc[i].x+' Y:'+screw_loc[i].y+' Z:'+screw_loc[i].z);
    
67. });
    
68. 
    
69. /*更新螺丝孔位置接口*/
    
70. _http.get('/usr/updateloc',function(opt){
    
71.     _http.response('ok');
    
72.     var i = opt.idx;
    
73.     print('total count:'+i);
    
74.     var cnt = parseInt(math_variables_2.total/3);
    
75. 
    
76.     var xdiff = math_variables_1.variables.cam_org_x - math_variables_1.variables.robot_org_x;
    
77.     var ydiff = math_variables_1.variables.cam_org_y - math_variables_1.variables.robot_org_y;
    
78. 
    
79.     if(i < cnt){
    
80.         math_variables_2.variables['loc_'+i+'_x'] = opt.x - xdiff;
    
81.         math_variables_2.variables['loc_'+i+'_y'] = opt.y - ydiff;
    
82.         math_variables_2.variables['loc_'+i+'_z'] = opt.z;
    
83.     }
    
84.     _applet.sync('math_variables_2');
    
85.     _applet.restore('math_variables_2');
    
86.     print('X:'+screw_loc[i].x+' Y:'+screw_loc[i].y+' Z:'+screw_loc[i].z);
    
87. });
    
88. 
    
89. /*删除螺丝孔位置接口*/
    
90. _http.get('/usr/delloc',function(opt){
    
91.     _http.response('ok');
    
92.     var idx = opt.idx;
    
93.     var cnt = parseInt(math_variables_2.total/3);
    
94.     var j;
    
95.     print('total count:'+cnt);
    
96.     for (var i = idx; i < cnt-1; i++) {
    
97.         j = i+1;
    
98.         math_variables_2.variables['loc_'+i+'_x'] = math_variables_2.variables['loc_'+j+'_x'];
    
99.         math_variables_2.variables['loc_'+i+'_y'] = math_variables_2.variables['loc_'+j+'_y'];
    
100.         math_variables_2.variables['loc_'+i+'_z'] = math_variables_2.variables['loc_'+j+'_z'];
     
101.     }
     
102.     i = cnt-1;
     
103.     delete math_variables_2.variables['loc_'+i+'_x'];
     
104.     delete math_variables_2.variables['loc_'+i+'_y'];
     
105.     delete math_variables_2.variables['loc_'+i+'_z'];
     
106.     _applet.sync('math_variables_2');
     
107.     _applet.restore('math_variables_2');
     
108.     print('X:'+screw_loc[i].x+' Y:'+screw_loc[i].y+' Z:'+screw_loc[i].z);
     
109. });
     
110. 
     
111. /*修改相机坐标接口*/
     
112. _http.get('/usr/camloc',function(opt,http){
     
113.     _http.response('ok');
     
114.     print('set camera location');
     
115.     //print(JSON.stringify(math_variables_1.variables));
     
116.     math_variables_1.variables.cam_org_y = opt.y;
     
117.     math_variables_1.variables.cam_org_x = opt.x;
     
118.     print('setloc  ssss'+math_variables_1.variables.cam_org_y);
     
119.     _applet.sync('math_variables_1');
     
120. });
     
121. 
     
122. /*修改机械手坐标接口*/
     
123. _http.get('/usr/robotloc',function(opt,http){
     
124.     _http.response('ok');
     
125.     print('set robot loccation');
     
126.     //print(JSON.stringify(math_variables_1.variables));
     
127.     math_variables_1.variables.robot_org_y = opt.y;
     
128.     math_variables_1.variables.robot_org_x = opt.x;
     
129.     print('setloc  ssss'+math_variables_1.variables.cam_org_y);
     
130.     _applet.sync('math_variables_1');
     
131.     _applet.restore('math_variables_1');
     
132. });
     
133. 
     
134. /*光源控制接口*/
     
135. _http.get('/usr/light',function(opt,http){
     
136.     _http.response(JSON.stringify(opt));
     
137.     if(opt && opt.bright !== undefined){
     
138.         print(opt.bright);
     
139.         _light.bright(parseInt(opt.bright));
     
140.     }
     
141.     if(opt && opt.on !== undefined){
     
142.         _light.on(parseInt(opt.on));
     
143.     }
     
144.     if(opt && opt.mode !== undefined){
     
145.         _light.mode(parseInt(opt.mode));
     
146.     }
     
147. });
     
148. 
     
149. /*标定接口*/
     
150. _http.get('usr/calibrate',function(){
     
151.     /*使用系统的once程序调用一次标定函数*/
     
152.     _applet.once(calibrate);
     
153. });

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