Making an Add-in (VSTA)

Stijn

I'm trying to make an add-in with VSTA for robotstudio by using the sample code for creating a new robtarget. When the new target is imported in robotstudio all the coordinates (X,Y,Z) are zero.

How can I change these coordinates  ?

 

 

This is the example code that I use:

 

 

    ' Creates a new target in the active task and adds it to a path<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

    Public Sub Macro_CreateTarget()

        ' Check that we have an active station

        Dim station As Station = Project.ActiveProject

        If station Is Nothing Then

            Exit Sub

        End If

 

        Dim activeTask As RsTask = station.ActiveTask

        If activeTask Is Nothing Then

            Exit Sub

        End If

 

        ' Find an unused name

        Dim targetName As String = ""

        For i As Int32 = 0 To Int32.MaxValue

            targetName = "MyTarget_" + i.ToString()

            If activeTask.DataDeclarations.Contains(targetName) = False Then

                Exit For

            End If

        Next

 

        ' Create a robtarget

        Dim robTarget As New RsRobTarget()

        robTarget.Name = targetName

        ' Add the robtarget to the active task

        activeTask.DataDeclarations.Add(robTarget)

 

        ' Create a target associated with the robtarget and the active workobject

        Dim workObject As RsWorkObject = activeTask.ActiveWorkObject

        Dim myTarget As New RsTarget(workObject, robTarget)

        myTarget.Name = targetName

        ' Add the target to the active task

        activeTask.Targets.Add(myTarget)

 

        Logger.AddMessage(New LogMessage("RobotStudio Sample: Created " + targetName + " in " + activeTask.Name))

 

 

' If the task has an active path procedure, create a new move instruction and add it

        Dim path As RsPathProcedure = activeTask.ActivePathProcedure

        If path IsNot Nothing Then

            Dim tool As RsToolData = activeTask.ActiveTool

            Dim procDef As RsProcessDefinition = activeTask.ActiveProcessDefinition

            Dim procTempl As RsProcessTemplate = procDef.ActiveProcessTemplate

            Dim moveInstr As New RsMoveInstruction(activeTask, procDef.Name, _

                                                    procTempl.Name, procTempl.ActiveMotionType, _

                                                    workObject.Name, robTarget.Name, tool.Name)

            path.Instructions.Add(moveInstr)

            Logger.AddMessage(New LogMessage("Sample Add-In: Added " + targetName + " to " + path.Name))

        End If

    End Sub

apox

Hi,

how about

myTarget.Transform.X = ...
myTarget.Transform.Y
= ...

In the API help you ll find an example under the section RsTarget.

Stijn

Hi,

Thanks for your help! It works for me.

 

Do you also know how to convert the code below in VSTA code ?

 

 

 

'// Sync the RobTaget to the VC.<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

    myTask.SyncData("Module1/" + myTarget.Name, SyncDirection.ToController, new System.Collections.Generic.List<SyncLogMessage>());

 

'// Sync the path to the VC.

    if (myTask.SyncPathProcedure("Module1/" + myPath.Name, SyncDirection.ToController, new ArrayList()))

    {

        Logger.AddMessage(new LogMessage("SyncPathProcedure of path " + myPath.Name + " succeded!"));

    }

    else

    {

        Logger.AddMessage(new LogMessage("SyncPathProcedure of path " + myPath.Name + " falied!"));

    }

 

'// Sync the complete task to the VC.

    if (myTask.SyncToController(new ArrayList()))

    {

        Logger.AddMessage(new LogMessage("SyncToController succeded!"));

    }

    else

    {

        Logger.AddMessage(new LogMessage("SyncToController falied!"));

    }

 

Regards,

 

 

Stijn2010-03-28 18:52:45

apox

Hi,

looks like C# code. VSTA uses .NET means you can use c# as well as visual basic. i am not familiar with visual basic but it if youa re it shouldn t be that hard to to convert it to visual baisc.

apox2010-03-29 00:37:14

Niklas Skoglund

Hi,

 

as Apox said you can create both C# and VB.NET projects in VSTA.

 

If you want to translate the code you can try this tools that provides translations in both directions;

http://www.developerfusion.com/tools/convert/vb-to-csharp/