arm/WindowsFormsApp1/ABBrobot.cs

using System;
using ABB.Robotics.Controllers;
using System.Windows.Forms;
using System.Drawing;
using WindowsFormsApp1;
using ABB.Robotics.Controllers.IOSystemDomain;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;

namespace WindowsFormsApp1
{
    internal class ABBrobot
    {
        private readonly Form1 form;
       

        public ABBrobot(Form1 form)
        {
            this.form = form;

        }
        public void Motorstatus()//電機狀態
        {
            if (Form1.controller.State == ControllerState.MotorsOn)
            {
                form.button6.Text = "關閉電機";
                form.button6.BackColor = Color.Red;


            }
            else if (Form1.controller.State == ControllerState.MotorsOff)
            {

                form.button6.Text = "開啟電機";
                form.button6.BackColor = Color.Transparent;

            }
        }
        public void Openmotor()//開電機 
        {
            if (Form1.isConnect == true)//判斷是否連接機器人
            {
                try
                {
                    if (Form1.controller.OperatingMode == ControllerOperatingMode.Auto)//判斷控制箱操作模式是否為自動模式
                    {
                        form.button6.Text = "關閉電機";
                        form.button6.BackColor = Color.Red;
                        Form1.controller.State = ControllerState.MotorsOn;//開啟電機
                        MessageBox.Show("電機開啟成功");
                    }
                    else
                    {
                        MessageBox.Show("請切換自動模式!");
                    }
                }
                catch (System.Exception ex)
                {
                    MessageBox.Show("發生意外!!:" + ex.Message);
                }
            }
            else
            {
                MessageBox.Show("未識別到機器人，請連接機器人!");
            }

        }
        public void Closemotor()//關電機 
        {
            if (Form1.isConnect == true)//判斷是否連接機器人
            {
                try
                {
                    if (Form1.controller.OperatingMode == ControllerOperatingMode.Auto)//判斷控制箱操作模式是否為自動模式
                    {

                       
                        form.button6.Text = "開啟電機";
                        form.button6.BackColor = Color.Transparent;
                        Form1.controller.State = ControllerState.MotorsOff;//關閉電機
                        MessageBox.Show("電機關閉成功");
                    }
                    else
                    {
                        MessageBox.Show("請切換自動模式!");
                    }
                }
                catch (System.Exception ex)
                {
                    MessageBox.Show("發生意外!!:" + ex.Message);
                }
            }
            else
            {
                MessageBox.Show("未識別到機器人，請連接機器人!");
            }
        }
        public void Isconnectrobot()//驗證是否連接機器人，防止代碼卡死
        {
            if (Form1.isConnect == true)
            {

            }
            else
            {
                MessageBox.Show("未識別到機器人，請連機器人");
                Environment.Exit(0); // 停止程序并退出
            }
        }
        
        public void IO()
        {
            if (form.comboBox5.SelectedIndex != -1)
            {
                DigitalSignal digitalSignal = (DigitalSignal)Form1.controller.IOSystem.GetSignal(form.comboBox5.Text);
                if (digitalSignal != null)
                {
                    try
                    {
                        if (digitalSignal.Value == 0)
                        {
                            digitalSignal.Value = 1;
                            MessageBox.Show(form.comboBox5.Text + "值改為1");
                        }
                        else
                        {
                            digitalSignal.Value = 0;
                            MessageBox.Show(form.comboBox5.Text + "值改為0");
                        }
                    }
                    catch (Exception)
                    {
                        MessageBox.Show("沒有權限");
                    }
                }
            }
            else
            {
                MessageBox.Show("請選取IO");
            }
            //GroupSignal groupSignal = (GroupSignal)controller.IOSystem.GetSignal("GO_8_15");
            //groupSignal.Value = 250;
        }
    }

    }