WPF开发之实现一种三轴机械手控件

一引入

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。

<SolidColorBrush x:Key="robotBorderBrush" Color="#030303" />
<Style TargetType="{x:Type local:WaferRobotControl}" >
 <Setter Property="Cursor" Value="Hand" />
 <Setter Property="Width" Value="200"/>
 <Setter Property="Height" Value="300"/>
 <Setter Property="Template">
 <Setter.Value>
 <ControlTemplate TargetType="{x:Type local:WaferRobotControl}">
 <Viewbox x:Name="viewbox" Stretch="Fill">
 <VisualStateManager.VisualStateGroups>
 <VisualStateGroup Name="RobotActions">
 <VisualStateGroup.Transitions>
 <VisualTransition To="Z_CW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y">
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y">
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 <VisualTransition To="Z_CCW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 </VisualStateGroup.Transitions>
 <VisualState Name="Z_Origin">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" >
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" >
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 <VisualState Name="Z_CW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" Duration="0" >
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" >
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 <VisualState Name="Z_CCW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" >
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" >
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 </VisualStateGroup>

 <VisualStateGroup Name="RobotXActions">
 <VisualStateGroup.Transitions>
 <VisualTransition To="X_CW">
 <Storyboard FillBehavior="HoldEnd" SpeedRatio="6">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT1RotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2ArmRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2Act" Storyboard.TargetProperty="X">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
 <LinearDoubleKeyFrame Value="2.126" KeyTime="0:0:8"/>
 <LinearDoubleKeyFrame Value="8.443" KeyTime="0:0:7"/>
 <LinearDoubleKeyFrame Value="18.756" KeyTime="0:0:6"/>
 <LinearDoubleKeyFrame Value="32.753" KeyTime="0:0:5"/>
 <LinearDoubleKeyFrame Value="50.009" KeyTime="0:0:4"/>
 <LinearDoubleKeyFrame Value="70" KeyTime="0:0:3"/>
 <LinearDoubleKeyFrame Value="92.117" KeyTime="0:0:2"/>
 <LinearDoubleKeyFrame Value="115.689" KeyTime="0:0:1"/>
 <LinearDoubleKeyFrame Value="140" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 <VisualTransition To="X_CCW">
 <Storyboard FillBehavior="HoldEnd" SpeedRatio="6">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT1RotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 <LinearDoubleKeyFrame Value="90" KeyTime="0:0:9"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2ArmRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:9"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2Act" Storyboard.TargetProperty="X">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 <LinearDoubleKeyFrame Value="2.126" KeyTime="0:0:1"/>
 <LinearDoubleKeyFrame Value="8.443" KeyTime="0:0:2"/>
 <LinearDoubleKeyFrame Value="18.756" KeyTime="0:0:3"/>
 <LinearDoubleKeyFrame Value="32.753" KeyTime="0:0:4"/>
 <LinearDoubleKeyFrame Value="50.009" KeyTime="0:0:5"/>
 <LinearDoubleKeyFrame Value="70" KeyTime="0:0:6"/>
 <LinearDoubleKeyFrame Value="92.117" KeyTime="0:0:7"/>
 <LinearDoubleKeyFrame Value="115.689" KeyTime="0:0:8"/>
 <LinearDoubleKeyFrame Value="140" KeyTime="0:0:9"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 </VisualStateGroup.Transitions>

 <VisualState Name="X_Origin">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT1RotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2ArmRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2Act" Storyboard.TargetProperty="X">
 <LinearDoubleKeyFrame Value="140" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>

 <VisualState Name="X_CW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT1RotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2ArmRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2Act" Storyboard.TargetProperty="X">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 <VisualState Name="X_CCW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT1RotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2ArmRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXT2Act" Storyboard.TargetProperty="X">
 <LinearDoubleKeyFrame Value="140" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 </VisualStateGroup>

 <VisualStateGroup Name="RobotTActions">
 <VisualStateGroup.Transitions>
 <VisualTransition To="T_Origin">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="90" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 <VisualTransition To="T_CW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="180" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 <VisualTransition To="T_CCW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:1"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualTransition>
 </VisualStateGroup.Transitions>

 <VisualState Name="T_Origin">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 <VisualState Name="T_CCW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 <VisualState Name="T_CW">
 <Storyboard FillBehavior="HoldEnd">
 <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
 <LinearDoubleKeyFrame Value="180" KeyTime="0:0:0"/>
 </DoubleAnimationUsingKeyFrames>
 </Storyboard>
 </VisualState>
 </VisualStateGroup>
 </VisualStateManager.VisualStateGroups>
 <Canvas Width="200" Height="300" >
 <Canvas x:Name="robotZ" Width="40" Height="120" Canvas.Top="170" Canvas.Left="80" >
 <Canvas.RenderTransform>
 <TransformGroup>
 <TranslateTransform x:Name="robotZAct"></TranslateTransform>
 </TransformGroup>
 </Canvas.RenderTransform>
 <Path Stroke="#030303" StrokeStartLineCap="Round" StrokeEndLineCap="Round">
 <Path.Fill>
 <LinearGradientBrush EndPoint="1,0.5" StartPoint="0,0.5">
 <GradientStop Color="#6B696A" Offset="0" />
 <GradientStop Color="#6B696A" Offset="1" />
 <GradientStop Color="#A1A7BE" Offset="0.5" />
 </LinearGradientBrush>
 </Path.Fill>
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="0 20" IsClosed="True">
 <LineSegment Point="0 2"/>
 <LineSegment Point="2 2"/>
 <LineSegment Point="5 5"/>
 <LineSegment Point="35 5" />
 <LineSegment Point="38 2"/>
 <LineSegment Point="40 2"/>
 <LineSegment Point="40 20" />
 <LineSegment Point="0 20" />
 </PathFigure>

 <PathFigure StartPoint="4 20" >
 <LineSegment Point="4 24"/>
 <LineSegment Point="36 24" />
 <LineSegment Point="36 20"/>
 </PathFigure>

 <PathFigure StartPoint="4 24" >
 <LineSegment Point="2 24"/>
 <LineSegment Point="2 28"/>
 <LineSegment Point="4 28"/>
 <LineSegment Point="36 28" />
 <LineSegment Point="38 28" />
 <LineSegment Point="38 24"/>
 <LineSegment Point="36 24"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Path Stroke="#030303" StrokeStartLineCap="Round" StrokeEndLineCap="Round">
 <Path.Fill>
 <LinearGradientBrush EndPoint="1,0.5" StartPoint="0,0.5">
 <GradientStop Color="#6B696A" Offset="0" />
 <GradientStop Color="#6B696A" Offset="1" />
 <GradientStop Color="#A1A7BE" Offset="0.5" />
 </LinearGradientBrush>
 </Path.Fill>
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="2 28.5" >
 <LineSegment Point="2 120"/>
 <LineSegment Point="38 120"/>
 <LineSegment Point="38 28.5"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 </Canvas>

 <Canvas x:Name="dizuo" Width="80" Height="100" Canvas.Top="200" Canvas.Left="60">
 <Path Stroke="#030303" Fill="#A1A7BE" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="0 0" IsClosed="True">
 <LineSegment Point="20 0"/>
 <LineSegment Point="20 92"/>
 <LineSegment Point="0 92"/>
 </PathFigure>
 <PathFigure StartPoint="0 92" IsClosed="True">
 <LineSegment Point="12 92"/>
 <LineSegment Point="12 100"/>
 <LineSegment Point="0 100"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Path Stroke="#030303" Fill="#7A7E90" Canvas.Left="20">
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="0 0" IsClosed="True">
 <LineSegment Point="40 0"/>
 <LineSegment Point="40 92"/>
 <LineSegment Point="0 92"/>
 </PathFigure>
 <PathFigure StartPoint="0 92" IsClosed="True">
 <LineSegment Point="-8 92"/>
 <LineSegment Point="-8 100"/>
 <LineSegment Point="48 100"/>
 <LineSegment Point="48 92"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Path Stroke="#030303" Fill="#585368" Canvas.Left="60">
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="0 0" IsClosed="True">
 <LineSegment Point="20 0"/>
 <LineSegment Point="20 92"/>
 <LineSegment Point="0 92"/>
 </PathFigure>
 <PathFigure StartPoint="8 92" IsClosed="True">
 <LineSegment Point="20 92"/>
 <LineSegment Point="20 100"/>
 <LineSegment Point="8 100"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 </Canvas>

 <Canvas x:Name="robot" Width="100" Height="150" RenderTransformOrigin="1 1" >
 <Canvas.RenderTransform>
 <TransformGroup>
 <RotateTransform x:Name="robotRotateAct"/>
 <TranslateTransform x:Name="robotUpDownAct"></TranslateTransform>
 </TransformGroup>
 </Canvas.RenderTransform>
 <Canvas x:Name="armXT1" Width="200" Height="100" Canvas.Top="100" RenderTransformOrigin="0.5 0.5">
 <Canvas.RenderTransform>
 <RotateTransform x:Name="armXT1RotateAct"/>
 </Canvas.RenderTransform>

 <Canvas x:Name="armXT1Arm" Width="70" Height="30" Canvas.Left="30" Canvas.Top="35" RenderTransformOrigin="1 0.5">
 <Path Stroke="{StaticResource robotBorderBrush}" Fill="#FF7F50" StrokeThickness="1" StrokeEndLineCap="Round" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="0 5" IsClosed="True">
 <LineSegment Point="51 0"/>
 <LineSegment Point="51 30" IsStroked="False"/>
 <LineSegment Point="0 25"/>
 <LineSegment Point="0 5" IsStroked="False"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="0" 
 StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#FF7F50"
 Data="M 0,5 A 10,10 0 0 0 0,25">
 </Path>
 </Canvas>

 <Canvas x:Name="armXT1Center" Width="40" Height="40" Canvas.Left="80" Canvas.Top="30" >
 <Path Stroke="{StaticResource robotBorderBrush}" Fill="#FF7F50" StrokeThickness="1" StrokeEndLineCap="Round" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="0 6" IsClosed="True">
 <LineSegment Point="6 0"/>
 <LineSegment Point="34 0"/>
 <LineSegment Point="40 6"/>
 <LineSegment Point="40 34"/>
 <LineSegment Point="34 40"/>
 <LineSegment Point="6 40"/>
 <LineSegment Point="0 34"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 </Canvas>
 </Canvas>

 <Canvas x:Name="armXT2" Width="120" Height="40" Canvas.Left="-90" Canvas.Top="130">
 <Canvas.RenderTransform>
 <TransformGroup>
 <TranslateTransform x:Name="armXT2Act"></TranslateTransform>
 </TransformGroup>
 </Canvas.RenderTransform>
 <Canvas x:Name="armXT2Arm" Width="70" Height="20" Canvas.Left="50" Canvas.Top="10" RenderTransformOrigin="0 0.5" Background="#6495ED">
 <Canvas.RenderTransform>
 <RotateTransform x:Name="armXT2ArmRotateAct"/>
 </Canvas.RenderTransform>
 <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="70" 
 StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#6495ED"
 Data="M 0,0 A 10,10 0 0 1 0,20">
 </Path>
 <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="0" 
 StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#6495ED"
 Data="M 0,0 A 10,10 0 0 0 0,20">
 </Path>

 <Path Stroke="{StaticResource robotBorderBrush}" Fill="#6495ED" StrokeThickness="1" StrokeEndLineCap="Round" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="70 0" >
 <LineSegment Point="0 0" />
 <LineSegment Point="0 20" IsStroked="False"/>
 <LineSegment Point="70 20"/>
 <LineSegment Point="70 0" IsStroked="False"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Ellipse Width="12" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent" 
 Canvas.Top="4" Canvas.Left="62"/>
 </Canvas>

 <Canvas x:Name="armGripper" Height="40" Width="50" Canvas.Left="0" Canvas.Top="0">
 <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="2" StrokeEndLineCap="Round" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="30 14" >
 <LineSegment Point="10 14" />
 <LineSegment Point="4 8" />
 <LineSegment Point="-6 8" />
 </PathFigure>

 <PathFigure StartPoint="30 26" >
 <LineSegment Point="10 26" />
 <LineSegment Point="4 32" />
 <LineSegment Point="-6 32" />
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Path Stroke="{StaticResource robotBorderBrush}" Fill="#7A7E90" StrokeThickness="1" StrokeEndLineCap="Round" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="40 0" >
 <LineSegment Point="60 0" />
 <LineSegment Point="60 40" />
 <LineSegment Point="40 40" />
 <LineSegment Point="30 30" />
 <LineSegment Point="30 10" />
 <LineSegment Point="40 0" />
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>
 <Path Stroke="{StaticResource robotBorderBrush}" Fill="#7A7E90" StrokeThickness="1" StrokeEndLineCap="Round" >
 <Path.Data>
 <PathGeometry>
 <PathFigure StartPoint="30 10" >
 <LineSegment Point="20 10" />
 <LineSegment Point="20 30" />
 <LineSegment Point="30 30" />
 <LineSegment Point="30 10" IsStroked="False"/>
 </PathFigure>
 </PathGeometry>
 </Path.Data>
 </Path>

 <Ellipse Width="12" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent" 
 Canvas.Top="14" Canvas.Left="44"/>
 <Ellipse x:Name="wafer" Width="40" Height="40" StrokeThickness="1" Stroke="Black" Canvas.Left="-24"
 Visibility="{Binding Wafer,Converter={StaticResource WaferIntToVisibilityConverter},
 RelativeSource={RelativeSource TemplatedParent}}"
 Fill="{Binding Wafer,Converter={StaticResource WaferIntToColorConverter},
 RelativeSource={RelativeSource TemplatedParent}}"/>
 </Canvas>
 </Canvas>
 </Canvas>
 </Canvas>
 </Viewbox>
 </ControlTemplate>
 </Setter.Value>
 </Setter>
</Style>

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 void AutoButton_Click(object sender, RoutedEventArgs e)
 {
 Task.Run(async () =>
 {
 Application.Current.Dispatcher?.Invoke
 (
 () => { this.robot.RobotTAction = WaferRobotTAction.T_CCW; }
 );
 await Task.Delay(1000);

 Application.Current.Dispatcher?.Invoke
 (
 () => { this.robot.RobotXAction = WaferRobotXAction.X_CW; }
 );
 await Task.Delay(2000);

 Application.Current.Dispatcher?.Invoke(
 () => { this.robot.Wafer = 1; }
 );
 await Task.Delay(200);

 Application.Current.Dispatcher?.Invoke(
 () => { this.robot.RobotXAction = WaferRobotXAction.X_CCW; }
 );
 await Task.Delay(2000);

 Application.Current.Dispatcher?.Invoke(
 () => { this.robot.RobotZAction = WaferRobotZAction.Z_CW; }
 );
 await Task.Delay(1000);

 Application.Current.Dispatcher?.Invoke
 (
 () => { this.robot.RobotTAction = WaferRobotTAction.T_CW; }
 );
 await Task.Delay(1000);

 Application.Current.Dispatcher?.Invoke
 (
 () => { this.robot.RobotXAction = WaferRobotXAction.X_CW; }
 );
 await Task.Delay(2000);

 Application.Current.Dispatcher?.Invoke(
 () => { this.robot.Wafer = 0; }
 );
 await Task.Delay(200);

 Application.Current.Dispatcher?.Invoke(
 () => { this.robot.RobotXAction = WaferRobotXAction.X_CCW; }
 );
 await Task.Delay(2000);
 Application.Current.Dispatcher?.Invoke
 (
 () => { this.robot.RobotTAction = WaferRobotTAction.T_Origin; }
 );
 await Task.Delay(1000);
 Application.Current.Dispatcher?.Invoke
 (
 () => { this.robot.RobotZAction = WaferRobotZAction.Z_CCW; }
 );
 await Task.Delay(1000);
 });
 }
 }

目录

一引入

二 RobotControl

三 Style

四效果演示

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最新文章

WPF开发之实现一种三轴机械手控件

目录

一 引入

二 RobotControl

三 Style

四 效果演示

%s 个评论

最新文章

一引入

四效果演示