'****************************************************************************
'This is a test program of a five-axis robot arm.
'Developed by PlayRobot Lab Dec. 2003
'Never operate or test this machine without the authorization of PlayRobot.
'Any accident happned would not be guaranted under this circumstance
'****************************************************************************
Private sp_configure As Integer
Public ax1_position As Integer
Public ax2_position As Integer
Public ax21_position As Integer
Public ax3_position As Integer
Public ax4_position As Integer
Public ax5_position As Integer


Private Sub Command2_Click()
Text1.Text = 255
Text2.Text = 0
Text3.Text = 255
Text4.Text = 0
Text5.Text = 255
Text6.Text = 0
Text7.Text = 255
Text8.Text = 0
Text9.Text = 255
Text10.Text = 0
End Sub

Private Sub Command3_Click()
Slider1.Max = Text1.Text
Slider1.Min = Text2.Text
Slider2.Max = Text3.Text
Slider2.Min = Text4.Text
Slider3.Max = Text5.Text
Slider3.Min = Text6.Text
Slider4.Max = Text7.Text
Slider4.Min = Text8.Text
Slider5.Max = Text9.Text
Slider5.Min = Text10.Text
If (Slider1.Max > 255) Then
MsgBox "最大值不可超過 255, 請重新輸入"
Slider1.Max = Text1.Text
ElseIf (Slider2.Max > 255) Then
MsgBox "最大值不可超過 255, 請重新輸入"
Slider2.Max = Text3.Text
ElseIf (Slider3.Max > 255) Then
MsgBox "最大值不可超過 255, 請重新輸入"
Slider3.Max = Text5.Text
ElseIf (Slider4.Max > 255) Then
MsgBox "最大值不可超過 255, 請重新輸入"
Slider4.Max = Text7.Text
ElseIf (Slider5.Max > 255) Then
MsgBox "最大值不可超過 255, 請重新輸入"
Slider5.Max = Text9.Text
End If

End Sub




Private Sub Forward_MouseDown(Button As Integer, Shift As Integer, X As Single, Y As Single)
     Dim Buffer As Variant
     Dim ByteArray() As Byte
     ReDim ByteArray(0 To 2)
               
     ByteArray(0) = 255                  'Required 1st Byte to signal SSC
     ByteArray(1) = 0                    'Servo Number. This can be changed.
     ax1_position = ax1_position + 5
     Sleep (sleep_time)
     ByteArray(2) = ax1_position                  'Slider's MAX value shouldn't exceed 255.
     Buffer = ByteArray                   'Transfer ByteArray to Variant(Required for MSCOMM control)
     MSComm1.Output = Buffer
End Sub

Private Sub Origin_Click()
Dim Buffer01 As Variant
    Dim ByteArray01() As Byte

    ReDim ByteArray01(0 To 2)
    
    'MsgBox ax1_position & ax2_position
        ' Axis 1
        ByteArray01(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray01(1) = 0                    'Servo Number. This can be changed.
        ByteArray01(2) = 127    'Slider's MAX value shouldn't exceed 255. "127" equals to center point
        Buffer01 = ByteArray01                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer01                 'Sending position data to SSC
        ax1_position = 127
        
        ' Axis 2 left
        ByteArray01(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray01(1) = 1                    'Servo Number. This can be changed.
        ByteArray01(2) = 127    'Slider's MAX value shouldn't exceed 255. "127" equals to center point
        Buffer01 = ByteArray01                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer01                 'Sending position data to SSC
        ax2_position = 127
        
        ' Axis 2 right
         ByteArray01(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray01(1) = 2                    'Servo Number. This can be changed.
        ByteArray01(2) = 127    'Slider's MAX value shouldn't exceed 255. "127" equals to center point
        Buffer01 = ByteArray01                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer01                 'Sending position data to SSC
        ax21_position = 127
                
        ' Axis 3
        ByteArray01(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray01(1) = 3                    'Servo Number. This can be changed.
        ByteArray01(2) = 127    'Slider's MAX value shouldn't exceed 255. "127" equals to center point
        Buffer01 = ByteArray01                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer01                 'Sending position data to SSC
        ax3_position = 127
        
        ' Axis 4
        ByteArray01(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray01(1) = 4                    'Servo Number. This can be changed.
        ByteArray01(2) = 127    'Slider's MAX value shouldn't exceed 255. "127" equals to center point
        Buffer01 = ByteArray01                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer01                 'Sending position data to SSC
        ax4_position = 127
        
        ' Axis 5
        ByteArray01(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray01(1) = 5                    'Servo Number. This can be changed.
        ByteArray01(2) = 127    'Slider's MAX value shouldn't exceed 255. "127" equals to center point
        Buffer01 = ByteArray01                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer01                 'Sending position data to SSC
        ax5_position = 127


    
End Sub
Private Sub CycleTest_Click()

    Dim Buffer01 As Variant
    Dim Buffer02 As Variant
    Dim Buffer03 As Variant
    Dim Buffer04 As Variant
    Dim Buffer05 As Variant
    Dim Buffer06 As Variant
    
    Dim ByteArrayRun1() As Byte
    Dim ByteArrayRun2() As Byte
    Dim ByteArrayRun3() As Byte
    Dim ByteArrayRun4() As Byte
    Dim ByteArrayRun5() As Byte
    Dim ByteArrayRun6() As Byte
    
    Dim step_increment As Integer
    Dim count As Integer
    Dim sleep_time As Integer
    
    ReDim ByteArrayRun1(0 To 2)
    ReDim ByteArrayRun2(0 To 2)
    ReDim ByteArrayRun3(0 To 2)
    ReDim ByteArrayRun4(0 To 2)
    ReDim ByteArrayRun5(0 To 2)
    ReDim ByteArrayRun6(0 To 2)
    
        ByteArrayRun1(0) = 255                  'Required 1st Byte to signal SSC
        ByteArrayRun1(1) = 0                    'axis 1
        ByteArrayRun2(0) = 255                  'Required 1st Byte to signal SSC
        ByteArrayRun2(1) = 1                    'axis 2
        ByteArrayRun3(0) = 255                  'Required 1st Byte to signal SSC
        ByteArrayRun3(1) = 2                    'axis 2
        ByteArrayRun4(0) = 255                  'Required 1st Byte to signal SSC
        ByteArrayRun4(1) = 3                    'axis 3
        ByteArrayRun5(0) = 255                  'Required 1st Byte to signal SSC
        ByteArrayRun5(1) = 4                    'axis 4
        ByteArrayRun6(0) = 255                  'Required 1st Byte to signal SSC
        ByteArrayRun6(1) = 5                    'axis 5
        
        'initial all axises
        Call Origin_Click
        sp_configure = 0                        'default set speed to slow
        Sleep (300)
        
        'speed set-up
        If sp_configure = 0 Then
            step_increment = 5                '5 : is a experiment number, it shoould less than var "step_increment"
            sleep_time = 100
           
        ElseIf sp_configure = 1 Then
            step_increment = 15               '15 : is a experiment number, it shoould less than var "step_increment"
            sleep_time = 65
        ElseIf sp_configure = 2 Then
            step_increment = 30               '30 : is a experiment number, it shoould less than var "step_increment"
            sleep_time = 50
        End If
       
       count = 0
       Do While (count) < 5
       count = count + 1
        '***********  positure 1  ***********
        Call Origin_Click
        Sleep (150)
        
        'axis 1
        I = 127
        Do While (I + Abs(step_increment)) < 200
            I = I + Abs(step_increment)
            Sleep (sleep_time)
            ByteArrayRun1(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer01 = ByteArrayRun1                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer01
            ax1_position = I
        Loop
       ' MsgBox "a1"
        'axis 2 left
        I = 127
        Do While (I + Abs(step_increment)) < 150
            I = I + Abs(step_increment)
            Sleep (sleep_time)
            ByteArrayRun2(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer02 = ByteArrayRun2                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer02
            ax2_position = I
        Loop
        'axis 2 right
        I = 127
        Do While (I + Abs(step_increment)) < 150
            I = I + Abs(step_increment)
            Sleep (sleep_time)
            ByteArrayRun3(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer03 = ByteArrayRun3                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer03
            ax21_position = I
        Loop
       ' MsgBox "a2"
        'axis 3
        I = 127
        Do While (I + Abs(step_increment)) < 190
            I = I + Abs(step_increment)
            Sleep (sleep_time)
            ByteArrayRun4(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer04 = ByteArrayRun4                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer04
            ax3_position = I
        Loop
       ' MsgBox "a3"
        'axis 4
        I = 127
        Do While (I + Abs(step_increment)) < 185
            I = I + Abs(step_increment)
            Sleep (250)
            ByteArrayRun5(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer05 = ByteArrayRun5                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer05
            ax4_position = I
        Loop
       ' MsgBox "a4"
        'axis 5
        I = 127
        Do While (I + Abs(step_increment)) < 200
            I = I + Abs(step_increment)
            Sleep (250)
            ByteArrayRun6(2) = 200                 'Slider's MAX value shouldn't exceed 255.
            Buffer06 = ByteArrayRun6                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer06
            ax5_position = 200
        Loop
       ' MsgBox "a5"
       
      
        
        '***********  positure 2  ***********

        'axis 1
        I = ax1_position                                  'start from the above end point
        If (I > 150) Then                        'CCW move
        step_increment = 0 - Abs(step_increment)
        
        Do While (I + step_increment) > 150
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun1(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer01 = ByteArrayRun1                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer01
            ax1_position = I
        Loop
        Else
        Do While (I + step_increment) < 150       'CW Move
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun1(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer01 = ByteArrayRun1                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer01
            ax1_position = I
        Loop
        End If
        'MsgBox ax1_position
        'axis 2 left
        I = ax2_position                                  'start from the above end point
        If (I > 130) Then                        'CCW move
        step_increment = 0 - Abs(step_increment)
        
        Do While (I + step_increment) > 130
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun2(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer02 = ByteArrayRun2                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer02
        Loop
        Else
        Do While (I + step_increment) < 130       'CW Move
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun2(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer02 = ByteArrayRun2                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer02
        Loop
        End If
        'axis 2 right
        I = ax21_position                                  'start from the above end point
        If (I > 130) Then                        'CCW move
        step_increment = 0 - Abs(step_increment)
        
        Do While (I + step_increment) > 130
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun3(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer03 = ByteArrayRun3                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer03
        Loop
        Else
        Do While (I + step_increment) < 130       'CW Move
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun3(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer03 = ByteArrayRun3                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer03
        Loop
        End If
        'axis 3
        I = ax3_position                                  'start from the above end point
        If (I > 160) Then                        'CCW move
        step_increment = 0 - Abs(step_increment)
        
        Do While (I + step_increment) > 160
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun4(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer04 = ByteArrayRun4                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer04
        Loop
        Else
        Do While (I + step_increment) < 160       'CW Move
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun4(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer04 = ByteArrayRun4                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer04
        Loop
        End If
        'axis 4
        I = ax4_position                                  'start from the above end point
        If (I > 120) Then                        'CCW move
        step_increment = 0 - Abs(step_increment)
        
        Do While (I + step_increment) > 120
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun5(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer05 = ByteArrayRun5                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer05
        Loop
        Else
        Do While (I + step_increment) < 120       'CW Move
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun5(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer05 = ByteArrayRun5                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer05
        Loop
        End If
        'axis 5
        I = ax5_position                                  'start from the above end point
        If (I > 140) Then                        'CCW move
        step_increment = 0 - Abs(step_increment)
        
        Do While (I + step_increment) > 140
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun6(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer06 = ByteArrayRun6                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer06
        Loop
        Else
        Do While (I + step_increment) < 140       'CW Move
            I = I + step_increment
            Sleep (sleep_time)
            ByteArrayRun6(2) = I                 'Slider's MAX value shouldn't exceed 255.
            Buffer06 = ByteArrayRun6                      'Transfer ByteArray to Variant(Required for MSCOMM control)
            MSComm1.Output = Buffer06
        Loop
        End If
        Sleep (150)
    Loop
    Call Origin_Click
End Sub
Function Delay(Optional mTime As Single = 0)
Lt = Timer
Do Until Timer - Lt > mTime
If Lt > Timer Then Lt = Lt - 86400
Loop
End Function

Private Sub Fast_sp_Click()
sp_configure = 2                            ' 2 means fast motion
End Sub

Private Sub Form_Load()
    Dim Buffer As Variant
    Dim ByteArray() As Byte

    ReDim ByteArray(0 To 2)

    MSComm1.Settings = "9600,N,8,1"         'COM Port Setting
    MSComm1.CommPort = 1                    'Set Port Number
    MSComm1.PortOpen = True                 'Open COM Port
    'Initial parameter setting
    'Axis limits
    Slider1.Max = Text1.Text
    Slider1.Min = Text2.Text
    Slider2.Max = Text3.Text
    Slider2.Min = Text4.Text
    Slider3.Max = Text5.Text
    Slider3.Min = Text6.Text
    Slider4.Max = Text7.Text
    Slider4.Min = Text8.Text
    Slider5.Max = Text9.Text
    Slider5.Min = Text10.Text
    
    
    'Axis position initialize
        'axis 1
        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 0                    'Servo Number. This can be changed.
        ByteArray(2) = 127      'Slider's MAX value shouldn't exceed 255.
        Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer
        ax1_position = 127
        'axis 2 right
        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 1                    'Servo Number. This can be changed.
        ByteArray(2) = 127      'Slider's MAX value shouldn't exceed 255.
        Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer
        ax2_position = 127
        'axis 2 left
        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 1                    'Servo Number. This can be changed.
        ByteArray(2) = 127      'Slider's MAX value shouldn't exceed 255.
        Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer
        ax21_position = 127
        'axis 3
        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 3                    'Servo Number. This can be changed.
        ByteArray(2) = 127      'Slider's MAX value shouldn't exceed 255.
        Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer
        ax3_position = 127
        'axis 4
        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 5                    'Servo Number. This can be changed.
        ByteArray(2) = 127      'Slider's MAX value shouldn't exceed 255.
        Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer
        ax4_position = 127
        'axis 5
        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 7                    'Servo Number. This can be changed.
        ByteArray(2) = 127      'Slider's MAX value shouldn't exceed 255.
        Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
        MSComm1.Output = Buffer
        ax5_position = 127
    
End Sub



Private Sub Middle_sp_Click()
sp_configure = 1                            ' 1 means middle-fast motion
End Sub

Private Sub Right_MouseDown(Button As Integer, Shift As Integer, X As Single, Y As Single)
Dim Buffer As Variant
     Dim ByteArray() As Byte
     ReDim ByteArray(0 To 2)
               
     ByteArray(0) = 255                  'Required 1st Byte to signal SSC
     ByteArray(1) = 0                    'Servo Number. This can be changed.
     ax1_position = ax1_position - 5
     Sleep (sleep_time)
     ByteArray(2) = ax1_position                  'Slider's MAX value shouldn't exceed 255.
     Buffer = ByteArray                   'Transfer ByteArray to Variant(Required for MSCOMM control)
     MSComm1.Output = Buffer
End Sub

Private Sub Slider1_Scroll()

    Dim Buffer As Variant
    Dim ByteArray() As Byte

    ReDim ByteArray(0 To 2)

        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 0                    'Servo Number. This can be changed.
        ByteArray(2) = Slider1.Value      'Slider's MAX value shouldn't exceed 255.
        
    Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
    MSComm1.Output = Buffer                 'Sending position data to SSC
    ax1_position = Slider1.Value
    'MsgBox ax1_position
    
End Sub

Private Sub Command1_Click()
    MSComm1.PortOpen = False                'Closing COM Port -> Ending application.
    End
    
End Sub


Private Sub Slider2_Click()
    Dim Buffer_S1 As Variant
    Dim Buffer_S2 As Variant
    Dim ByteArray_S1() As Byte
    Dim ByteArray_S2() As Byte
    ReDim ByteArray_S1(0 To 2)
    ReDim ByteArray_S2(0 To 2)
        ' right motor driven
        ByteArray_S1(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray_S1(1) = 1                    'Servo Number. This can be changed.
        ByteArray_S1(2) = Slider2.Value      'Slider's MAX value shouldn't exceed 255.
        ' left motor driven
        ByteArray_S2(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray_S2(1) = 2                    'Servo Number. This can be changed.
        ByteArray_S2(2) = Slider2.Value      'Slider's MAX value shouldn't exceed 255.
        
    Buffer_S1 = ByteArray_S1
    Buffer_S2 = ByteArray_S2                      'Transfer ByteArray to Variant(Required for MSCOMM control)
    MSComm1.Output = Buffer_S1
    MSComm1.Output = Buffer_S2
    ax2_position = Slider2.Value
    ax21_position = Slider2.Value
    'MsgBox ax2_position
End Sub
Private Sub Slider3_Click()
Dim Buffer As Variant
    Dim ByteArray() As Byte

    ReDim ByteArray(0 To 2)

        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 3                    'Servo Number. This can be changed.
        ByteArray(2) = Slider3.Value      'Slider's MAX value shouldn't exceed 255.
        
    Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
    MSComm1.Output = Buffer
    ax3_position = Slider3.Value
    'MsgBox ax3_position
End Sub
Private Sub Slider4_Click()
Dim Buffer As Variant
    Dim ByteArray() As Byte

    ReDim ByteArray(0 To 2)

        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 4                    'Servo Number. This can be changed.
        ByteArray(2) = Slider4.Value      'Slider's MAX value shouldn't exceed 255.
        
    Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
    MSComm1.Output = Buffer
    ax4_position = Slider4.Value
    'MsgBox ax4_position
End Sub

Private Sub Slider5_Click()
Dim Buffer As Variant
    Dim ByteArray() As Byte

    ReDim ByteArray(0 To 2)

        ByteArray(0) = 255                  'Required 1st Byte to signal SSC
        ByteArray(1) = 5                    'Servo Number. This can be changed.
        ByteArray(2) = Slider5.Value      'Slider's MAX value shouldn't exceed 255.
        
    Buffer = ByteArray                      'Transfer ByteArray to Variant(Required for MSCOMM control)
    MSComm1.Output = Buffer
    ax5_position = Slider5.Value
End Sub

Private Sub Slow_sp_Click()
sp_configure = 0                            ' 0 means slow motion
End Sub