update

TeamAAS-VM/Controls/PlcRobotManual.xaml

@@ -299,13 +299,13 @@
                                             Height="36"
                                             Margin="6,0"
                                             Style="{StaticResource MaterialDesignRaisedDarkButton}"
-                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                             CommandParameter="{Binding}">
                                         <StackPanel Orientation="Vertical">
                                             <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                                      Width="26"
                                                                      Height="26" />
-                                            <TextBlock Text="+"
+                                            <TextBlock Text="-"
                                                        HorizontalAlignment="Center" />
                                         </StackPanel>
                                     </Button>
@@ -313,13 +313,13 @@
                                             Height="36"
                                             Margin="6,0"
                                             Style="{StaticResource MaterialDesignRaisedDarkButton}"
-                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                             CommandParameter="{Binding}">
                                         <StackPanel Orientation="Vertical">
                                             <materialDesign:PackIcon Kind="ArrowRightBold"
                                                                      Width="26"
                                                                      Height="26" />
-                                            <TextBlock Text="-"
+                                            <TextBlock Text="+"
                                                        HorizontalAlignment="Center" />
                                         </StackPanel>
                                     </Button>

TeamAAS-VM/ViewModels/Product/PlcPointParamsViewModel.cs

@@ -1740,11 +1740,24 @@ namespace TeamAAS_VP.ViewModels.Product
                         //如果当前的取料点数量小于等于i，则新增一个取料点
                         if(SelectProduct.PickPoints.Count<=i)
                         {
-                            SelectProduct.PickPoints.Add(new PlcPoint());
+                            SelectProduct.PickPoints.Add(new PlcPoint() 
+                            { Number=i+1,
+                                X_Position= points[i].X_Position ,
+                                X_Velocity=100,
+                                Y_Position= points[i].Y_Position ,
+                                Y_Velocity=100,
+                                Z_Position_Start= points[i].Z_Position_Start,
+                                Z_Velocity_Start=100,
+                            U_Position= points[i].U_Position,
+                            U_Velocity=100,
+                            Z_Position_Stop= points[i].Z_Position_Stop,
+                            Z_Velocity_Stop=100,
+                            });
                         }
                         else
                         {
                             //否则更新当前的取料点
+                            SelectProduct.PickPoints[i].Number = i + 1;
                             SelectProduct.PickPoints[i].X_Position = points[i].X_Position;
                             SelectProduct.PickPoints[i].Y_Position = points[i].Y_Position;
                             SelectProduct.PickPoints[i].Z_Position_Start = points[i].Z_Position_Start;
@@ -1772,11 +1785,25 @@ namespace TeamAAS_VP.ViewModels.Product
                         //如果当前的取料点数量小于等于index，则新增一个取料点
                         if (SelectProduct.PickPoints.Count <= index)
                         {
-                            SelectProduct.PickPoints.Add(new PlcPoint());
+                            SelectProduct.PickPoints.Add(new PlcPoint()
+                            {
+                                Number = index + 1,
+                                X_Position = points[i].X_Position,
+                                X_Velocity=100,
+                                Y_Position = points[i].Y_Position,
+                                Y_Velocity=100,
+                                Z_Position_Start = points[i].Z_Position_Start,
+                                Z_Velocity_Start=100,
+                                U_Position = points[i].U_Position,
+                                U_Velocity=100,
+                                Z_Position_Stop = points[i].Z_Position_Stop,
+                                Z_Velocity_Stop=100,
+                            });
                         }
                         else
                         {
                             //否则更新当前的取料点
+                            SelectProduct.PickPoints[index].Number = index + 1;
                             SelectProduct.PickPoints[index].X_Position = points[i].X_Position;
                             SelectProduct.PickPoints[index].Y_Position = points[i].Y_Position;
                             SelectProduct.PickPoints[index].Z_Position_Start = points[i].Z_Position_Start;
@@ -1846,8 +1873,8 @@ namespace TeamAAS_VP.ViewModels.Product
                     }
                 }
                 CameraList = new ObservableCollection<CameraInfo>(_configService.GetAllCameras());
-                Pallet1 = new PalletEx() { Row = 4, Column = 2 };
-                Pallet2 = new PalletEx() { Row = 4, Column = 2 };
+                Pallet1 = new PalletEx() { Row = 4, Column = 2 ,P1=new PlcPoint(),P0=new PlcPoint(),P2=new PlcPoint()};
+                Pallet2 = new PalletEx() { Row = 4, Column = 2, P1 = new PlcPoint(), P0 = new PlcPoint(), P2 = new PlcPoint() };
 
             }
             catch (Exception ex)

TeamAAS-VM/Views/DebugMod/PlcRobotManualStep.xaml

@@ -330,13 +330,13 @@
                                             Height="36"
                                             Margin="6,0"
                                             Style="{StaticResource MaterialDesignRaisedDarkButton}"
-                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                             CommandParameter="{Binding}">
                                         <StackPanel Orientation="Vertical">
                                             <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                                      Width="26"
                                                                      Height="26" />
-                                            <TextBlock Text="+"
+                                            <TextBlock Text="-"
                                                        HorizontalAlignment="Center" />
                                         </StackPanel>
                                     </Button>
@@ -344,13 +344,13 @@
                                             Height="36"
                                             Margin="6,0"
                                             Style="{StaticResource MaterialDesignRaisedDarkButton}"
-                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                             CommandParameter="{Binding}">
                                         <StackPanel Orientation="Vertical">
                                             <materialDesign:PackIcon Kind="ArrowRightBold"
                                                                      Width="26"
                                                                      Height="26" />
-                                            <TextBlock Text="-"
+                                            <TextBlock Text="+"
                                                        HorizontalAlignment="Center" />
                                         </StackPanel>
                                     </Button>

TeamAAS-VM/Views/Product/PlcPointParams.xaml

@@ -1529,13 +1529,13 @@
                                                             Height="36"
                                                             Margin="6,0"
                                                             Style="{StaticResource MaterialDesignRaisedDarkButton}"
-                                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                                             CommandParameter="{Binding}">
                                                         <StackPanel Orientation="Vertical">
                                                             <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                                                      Width="26"
                                                                                      Height="26" />
-                                                            <TextBlock Text="+"
+                                                            <TextBlock Text="-"
                                                                        HorizontalAlignment="Center" />
                                                         </StackPanel>
                                                     </Button>
@@ -1543,13 +1543,13 @@
                                                             Height="36"
                                                             Margin="6,0"
                                                             Style="{StaticResource MaterialDesignRaisedDarkButton}"
-                                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                                             CommandParameter="{Binding}">
                                                         <StackPanel Orientation="Vertical">
                                                             <materialDesign:PackIcon Kind="ArrowRightBold"
                                                                                      Width="26"
                                                                                      Height="26" />
-                                                            <TextBlock Text="-"
+                                                            <TextBlock Text="+"
                                                                        HorizontalAlignment="Center" />
                                                         </StackPanel>
                                                     </Button>