#0011：轨迹记录功能
This commit is contained in:
zhengxuan.zhang
Generated
+41
-14
@@ -180,6 +180,7 @@
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this.btnSend = new System.Windows.Forms.Button();
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this.button11 = new System.Windows.Forms.Button();
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this.txtCommand = new System.Windows.Forms.TextBox();
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this.button18 = new System.Windows.Forms.Button();
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this.groupBox5 = new System.Windows.Forms.GroupBox();
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this.groupBox9 = new System.Windows.Forms.GroupBox();
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this.label56 = new System.Windows.Forms.Label();
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@@ -210,6 +211,7 @@
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this.button2 = new System.Windows.Forms.Button();
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this.button1 = new System.Windows.Forms.Button();
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this.groupBox10 = new System.Windows.Forms.GroupBox();
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this.button19 = new System.Windows.Forms.Button();
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this.label48 = new System.Windows.Forms.Label();
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this.textBox4 = new System.Windows.Forms.TextBox();
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this.button10 = new System.Windows.Forms.Button();
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@@ -217,7 +219,7 @@
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this.checkBox4 = new System.Windows.Forms.CheckBox();
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this.checkBox3 = new System.Windows.Forms.CheckBox();
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this.checkBox2 = new System.Windows.Forms.CheckBox();
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this.button18 = new System.Windows.Forms.Button();
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this.button20 = new System.Windows.Forms.Button();
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this.groupBox1.SuspendLayout();
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this.grpMotionTest.SuspendLayout();
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this.grpMst.SuspendLayout();
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@@ -1680,7 +1682,7 @@
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//
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// groupBox4
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//
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this.groupBox4.Controls.Add(this.button18);
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this.groupBox4.Controls.Add(this.button20);
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this.groupBox4.Controls.Add(this.button17);
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this.groupBox4.Controls.Add(this.button16);
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this.groupBox4.Controls.Add(this.button15);
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@@ -1704,13 +1706,13 @@
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this.button17.Name = "button17";
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this.button17.Size = new System.Drawing.Size(85, 30);
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this.button17.TabIndex = 14;
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this.button17.Text = "MoveM";
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this.button17.Text = "ExtAddPointM";
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this.button17.UseVisualStyleBackColor = true;
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this.button17.Click += new System.EventHandler(this.button17_Click);
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//
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// button16
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//
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this.button16.Location = new System.Drawing.Point(291, 218);
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this.button16.Location = new System.Drawing.Point(387, 218);
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this.button16.Name = "button16";
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this.button16.Size = new System.Drawing.Size(85, 30);
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this.button16.TabIndex = 13;
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@@ -1720,7 +1722,7 @@
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//
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// button15
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//
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this.button15.Location = new System.Drawing.Point(196, 218);
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this.button15.Location = new System.Drawing.Point(292, 218);
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this.button15.Name = "button15";
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this.button15.Size = new System.Drawing.Size(85, 30);
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this.button15.TabIndex = 12;
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@@ -1730,7 +1732,7 @@
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//
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// button14
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//
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this.button14.Location = new System.Drawing.Point(98, 218);
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this.button14.Location = new System.Drawing.Point(194, 218);
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this.button14.Name = "button14";
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this.button14.Size = new System.Drawing.Size(85, 30);
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this.button14.TabIndex = 11;
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@@ -1786,6 +1788,16 @@
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this.txtCommand.TabIndex = 7;
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this.txtCommand.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.txtCommand_KeyPress);
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//
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// button18
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//
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this.button18.Location = new System.Drawing.Point(19, 101);
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this.button18.Name = "button18";
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this.button18.Size = new System.Drawing.Size(85, 30);
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this.button18.TabIndex = 15;
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this.button18.Text = "开始记录";
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this.button18.UseVisualStyleBackColor = true;
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this.button18.Click += new System.EventHandler(this.button18_Click);
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//
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// groupBox5
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//
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this.groupBox5.Controls.Add(this.groupBox9);
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@@ -2074,6 +2086,8 @@
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//
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// groupBox10
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//
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this.groupBox10.Controls.Add(this.button19);
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this.groupBox10.Controls.Add(this.button18);
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this.groupBox10.Controls.Add(this.label48);
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this.groupBox10.Controls.Add(this.textBox4);
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this.groupBox10.Controls.Add(this.button10);
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@@ -2088,6 +2102,16 @@
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this.groupBox10.TabStop = false;
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this.groupBox10.Text = "XYZ循环";
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//
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// button19
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//
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this.button19.Location = new System.Drawing.Point(129, 101);
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this.button19.Name = "button19";
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this.button19.Size = new System.Drawing.Size(85, 30);
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this.button19.TabIndex = 16;
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this.button19.Text = "停止记录";
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this.button19.UseVisualStyleBackColor = true;
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this.button19.Click += new System.EventHandler(this.button19_Click);
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//
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// label48
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//
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this.label48.AutoSize = true;
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@@ -2112,6 +2136,7 @@
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this.button10.TabIndex = 4;
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this.button10.Text = "停止";
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this.button10.UseVisualStyleBackColor = true;
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this.button10.Click += new System.EventHandler(this.button10_Click);
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//
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// button9
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//
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@@ -2153,15 +2178,15 @@
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this.checkBox2.Text = "X";
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this.checkBox2.UseVisualStyleBackColor = true;
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//
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// button18
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// button20
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//
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this.button18.Location = new System.Drawing.Point(400, 215);
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this.button18.Name = "button18";
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this.button18.Size = new System.Drawing.Size(85, 30);
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this.button18.TabIndex = 15;
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this.button18.Text = "记录";
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this.button18.UseVisualStyleBackColor = true;
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this.button18.Click += new System.EventHandler(this.button18_Click);
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this.button20.Location = new System.Drawing.Point(103, 220);
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this.button20.Name = "button20";
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this.button20.Size = new System.Drawing.Size(85, 30);
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this.button20.TabIndex = 15;
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this.button20.Text = "MultiPointM2";
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this.button20.UseVisualStyleBackColor = true;
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this.button20.Click += new System.EventHandler(this.button20_Click);
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//
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// MainForm
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//
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@@ -2408,6 +2433,8 @@
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private System.Windows.Forms.Button button16;
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private System.Windows.Forms.Button button17;
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private System.Windows.Forms.Button button18;
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private System.Windows.Forms.Button button19;
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private System.Windows.Forms.Button button20;
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}
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}
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+135
-46
@@ -61,7 +61,8 @@ namespace ACS_DotNET_Library_Advanced_Demo
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// 记录标志位
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private bool record = false;
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private int record_count = 0; //时间计数
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private bool record_last = false; //上一次的记录标志位
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public MainForm()
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{
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@@ -287,7 +288,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
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}
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private bool record_action = false;
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private void tmrMonitor_Tick(object sender, EventArgs e)
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{
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// Get selected axis number
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@@ -393,35 +394,47 @@ namespace ACS_DotNET_Library_Advanced_Demo
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label55.Text = point.y.ToString("0.000");
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label56.Text = point.z.ToString("0.000");
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if (record)
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if (record_action)
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{
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record_count++;
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pointList.Add(point);
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}
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if (record_count > 200)
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{
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record_count = 0;
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record = false;
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//保存数据
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SaveFileDialog saveFileDialog = new SaveFileDialog();
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saveFileDialog.Filter = "文本文件|*.txt";
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saveFileDialog.Title = "保存数据";
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saveFileDialog.ShowDialog();
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if (saveFileDialog.FileName != "")
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{
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StreamWriter sw = new StreamWriter(saveFileDialog.FileName);
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foreach (Point p in pointList)
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{
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sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000"));
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}
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sw.Close();
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}
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}
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if (!record_last && record) //从未记录到记录
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{
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lstLog.Items.Add("开始记录");
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record_action = true;
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}
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//从记录到未记录
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if (record_last && !record)
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{
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lstLog.Items.Add("停止记录");
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record_action = false;
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//定义文件保存位置 D:/11.txt
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string path = "D:/11.txt";
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{
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StreamWriter sw = new StreamWriter(path);
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foreach (Point p in pointList)
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{
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sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000"));
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}
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sw.Close();
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}
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pointList.Clear();//清空数据
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lstLog.Items.Add("保存完成");
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}
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//更新记录标志位
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record_last = record;
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}
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}
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@@ -970,15 +983,16 @@ namespace ACS_DotNET_Library_Advanced_Demo
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// Create multi-point motion of axis 0 and 1 with default
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// velocity without
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// dwell in the points
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_ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0);
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//_ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0);
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// Add some points
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for (int index = 0; index < 5; index++)
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{
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points[0] = 100 * index;
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points[1] = 100 * index;
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_ACS.AddPointM(axes, points);
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//_ACS.AddPointM(axes, points);
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_ACS.ToPointM(MotionFlags.ACSC_AMF_VELOCITY,axes, points);
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//将点添加到 lstLog.Items
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lstLog.Items.Add("points[0]:" + points[0].ToString() + "points[1]:" + points[1].ToString());
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@@ -1011,7 +1025,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
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// Create the arbitrary path motion to axes 0 and 1 with
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// uniform interval 10 ms use a cubic interpolation
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// between the specified points
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_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |MotionFlags.ACSC_AMF_WAIT, axes, 5000);
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_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC, axes, 1000);
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// Add some points
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// 定义三维点列表
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@@ -1032,13 +1046,14 @@ namespace ACS_DotNET_Library_Advanced_Demo
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// 遍历列表并添加点
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for (int index = 0; index < pointsArray.GetLength(0); index++)
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{
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double[] speed = { 100,100,100};
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points[0] = pointsArray[index, 0];
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points[1] = pointsArray[index, 1];
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points[2] = pointsArray[index, 2];
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// 使用AddPVPointM方法添加点
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_ACS.AddPVPointM(axes, points, points);
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_ACS.AddPVPointM(axes, points, speed);
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// 将点信息添加到lstLog.Items
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lstLog.Items.Add($"points[0]: {points[0]} points[1]: {points[1]} points[2]: {points[2]}");
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@@ -1049,7 +1064,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
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// End of the multi-point motion
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_ACS.EndSequenceM(axes);
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_ACS.GoM(axes);
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//_ACS.GoM(axes);
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record = true;
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@@ -1118,10 +1133,48 @@ namespace ACS_DotNET_Library_Advanced_Demo
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private void button18_Click(object sender, EventArgs e)
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{
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lstLog.Items.Add("记录");
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record = true;
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}
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private void button19_Click(object sender, EventArgs e)
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{
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lstLog.Items.Add("停止记录");
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record = false;
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}
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private void button10_Click(object sender, EventArgs e)
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{
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}
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private void button20_Click(object sender, EventArgs e)//MultiPointM
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{
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lstLog.Items.Add("MultiPointM");
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int timeout = 5000;
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Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_NONE };
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double[] points = { 0, 0 };
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_ACS.EnableM(axes); // Enable axes 0 and 1
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// Wait axis 0 enabled during 5 sec
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
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// Wait axis 1 enabled during 5 sec
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
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// Create multi-point motion with default velocity without
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// dwell
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_ACS.MultiPointM(MotionFlags.ACSC_AMF_VELOCITY, axes, 0);
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// Add some points
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for (int index = 0; index < 5; index++)
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{
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// Position and velocity for each point
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points[0] = 100 * index;
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points[1] = 100 * index;
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_ACS.ExtAddPointM(axes, points, 5000);
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}
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// Finish the motion
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// End of the multi-point motion
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_ACS.EndSequenceM(axes);
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}
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private void button15_Click(object sender, EventArgs e) //ExtLine
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{
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int timeout = 5000;
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@@ -1176,34 +1229,70 @@ namespace ACS_DotNET_Library_Advanced_Demo
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lstLog.Items.Add("BlendedLine ");
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int timeout = 5000;
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Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
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double[] Point = { 1000, 1000 };
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_ACS.BlendedSegmentMotionAsync(MotionFlags.ACSC_NONE, Axes,
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Point,//Starting point of motion
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1000, // Segment time
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500, // Segment Acceleration time
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200, // Segment jerk time
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0);// Waiting call
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Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
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_ACS.EnableM(Axes); // Enable axes 0 and 1
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
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double[] Point = { 100, 100 };
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_ACS.BlendedSegmentMotion(MotionFlags.ACSC_NONE, Axes,
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Point,//Starting point of motion
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1000, // Segment time
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500, // Segment Acceleration time
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200, // Segment jerk time
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0);// Waiting call
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double[] FinalPoint = { 300, 300};
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_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes,FinalPoint, 10000, 200, 300, 0);
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//增加第二个点（500,400）
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double[] FinalPoint2 = { 500, 400 };
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_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, FinalPoint2, 10000, 200, 300, 0);
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//增加第三个点（600,100）
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double[] FinalPoint3 = { 600, 100 };
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_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, FinalPoint3, 10000, 200, 300, 0);
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double[] FinalPoint = { 100, 100,-50};
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_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes,
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FinalPoint, 1000, 200, 300, 0);
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_ACS.EndSequenceM(Axes);
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record =true;
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}
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private void button17_Click(object sender, EventArgs e) //MoveM 方法
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private void button17_Click(object sender, EventArgs e) //ExtAddPointM 方法
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{
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lstLog.Items.Add("ExtAddPointM ");
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int timeout = 5000;
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Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_NONE };
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double[] points = { 0, 0 };
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_ACS.EnableM(axes); // Enable axes 0 and 1
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// Wait axis 0 enabled during 5 sec
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
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// Wait axis 1 enabled during 5 sec
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_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
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// Create multi-point motion with default velocity without
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// dwell
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_ACS.MultiPointM(MotionFlags.ACSC_AMF_VELOCITY, axes, 0);
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// Add some points
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for (int index = 0; index < 5; index++)
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{
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// Position and velocity for each point
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points[0] = 100 * index;
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points[1] = 100 * index;
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_ACS.ExtAddPointM(axes, points, 5000);
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}
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// Finish the motion
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// End of the multi-point motion
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_ACS.EndSequenceM(axes);
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record = true;
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}
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private void button1_Click(object sender, EventArgs e)
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