using?System;
using?System.IO.Ports;
using?System.Windows.Forms;
using?System.Threading;
using?System.Threading.Tasks;


namespace?deltabot1_interface
{
?
????public?partial?class?Form1?:?Form
????{
????????//?robot?geometry
????????//?（look?at?pics?above?for?explanation）
????????float?ee?=?46f;
????????float?ff?=?142f;
????????float?re?=?480f;
????????float?rf?=?200f;

????????//?trigonometric?constants
????????//const?Double?sqrt3?=?1.732;
????????const?Double?pi?=?3.14159265358979;????//?PI
????????const?Double?sin120?=?0.8660254;
????????const?Double?cos120?=?-0.5;
????????const?Double?tan60?=?1.7320508;
????????const?Double?sin30?=?0.5;
????????const?Double?tan30?=?0.57735;


????????public?Form1（）
????????{
????????????InitializeComponent（）;
????????}

????????private?void?button4_Click（object?sender?EventArgs?e）
????????{

????????????//?forward?kinematics:?（theta1?theta2?theta3）?->?（x0?y0?z0）
????????????//?returned?status:?0=OK?-1=non-existing?position
????????????Double?T1?=?Convert.ToDouble（textBox5.Text）;
????????????Double?T2?=?Convert.ToDouble（textBox6.Text）;
????????????Double?T3?=?Convert.ToDouble（textBox7.Text）;
????????????Double?T12?=?T1?;
????????????Double?T22?=?T2?;
????????????Double?T32?=?T3?;
????????????Double?X1?=?0;
????????????Double?Y1?=?0;
????????????Double?Z1?=?0;

????????????int?Status1?=?delta_calcForward（T1?T2?T3ref?X1ref?Y1ref?Z1）;
????????????if?（Status1?==?0）
????????????{
????????????????textBox8.Text?=?“OK“;
????????????????textBox2.Text?=?Convert.ToString（X1）;
????????????????textBox3.Text?=?Convert.ToString（Y1）;
????????????????textBox4.Text?=?Convert.ToString（Z1）;
????????????}
????????????else
????????????{
????????????????textBox8.Text?=?“non-existing?position“;
????????????????textBox2.Text?=?“???“;
????????????????textBox3.Text?=?“???“;
????????????????textBox4.Text?=?“???“;

????????????}

????????????

????????}
????????//?正解:?已知角度求位置（theta1?theta2?theta3）?->?（x0?y0?z0）
????????//?返回值:?0?=?OK?-1?=?位置不存在
????????int?delta_calcForward（Double?theta1?Double?theta2?Double?theta3?ref?Double?x0ref?Double?y0ref?Double?z0）
????????{
????????????Double?t?=?（ff?-?ee）?*?tan30?/?2;
????????????Double?dtr?=?pi?/?180.0;

????????????theta1?*=?dtr;
????????????theta2?*=?dtr;
????????????theta3?*=?dtr;

????????????Double?y1?=?-（t?+?rf?*?Math.Cos（theta1））;
????????????Double?z1?=?-rf?*?Math.Sin（theta1）;

????????????Double?y2?=?（t?+?rf?*?Math.Cos（theta2））?*?sin30;
????????????Double?x2?=?y2?*?tan60;
????????????Double?z2?=?-rf?*?Math.Sin（theta2）;

????????????Double?y3?=?（t?+?rf?*?Math.Cos（theta3））?*?sin30;
????????????Double?x3?=?-y3?*?tan60;
????????????Double?z3?=?-rf?*?Math.Sin（theta3）;

????????????Double?dnm?=?（y2?-?y1）?*?x3?-?（y3?-?y1）?*?x2;

????????????Double?w1?=?y1?*?y1?+?z1?*?z1;
????????????Double?w2?=?x2?*?x2?+?y2?*?y2?+?z2?*?z2;
????????????Double?w3?=?x3?*?x3?+?y3?*?y3?+?z3?*?z3;

????????????//?x?=?（a1*z?+?b1）/dnm
????????????Double?a1?=?（z2?-?z1）?*?（y3?-?y1）?-?（z3?-?z1）?*?（y

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

????..A..H.?????41472??2020-03-21?09:20??Visual?Studio?Project\.vs\deltabot\v16\.suo

?????文件??????????0??2020-03-21?09:19??Visual?Studio?Project\.vs\deltabot\v16\Server\sqlite3\db.lock

?????文件?????602112??2020-03-21?09:20??Visual?Studio?Project\.vs\deltabot\v16\Server\sqlite3\storage.ide

????..A..H.?????36864??2020-03-21?09:19??Visual?Studio?Project\.vs\deltabot1?interface\v16\.suo

?????文件??????????0??2020-03-19?17:30??Visual?Studio?Project\.vs\deltabot1?interface\v16\Server\sqlite3\db.lock

?????文件?????602112??2020-03-21?09:14??Visual?Studio?Project\.vs\deltabot1?interface\v16\Server\sqlite3\storage.ide

?????文件????????184??2018-08-04?18:49??Visual?Studio?Project\deltabot\App.config

?????文件???????7884??2020-03-21?09:18??Visual?Studio?Project\deltabot\deltabot.csproj

?????文件????????248??2020-03-19?17:30??Visual?Studio?Project\deltabot\deltabot.csproj.user

?????文件???????6609??2020-03-21?08:59??Visual?Studio?Project\deltabot\Form1.cs

?????文件??????17270??2020-03-21?08:59??Visual?Studio?Project\deltabot\Form1.Designer.cs

?????文件???????6189??2020-03-21?08:59??Visual?Studio?Project\deltabot\Form1.resx

?????文件?????189952??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\app.publish\deltabot1?interface.exe

?????文件???????1317??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot.csproj.FileListAbsolute.txt

?????文件????????939??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot.csproj.GenerateResource.cache

?????文件??????11482??2020-03-21?09:20??Visual?Studio?Project\deltabot\obj\Debug\deltabot.csprojAssemblyReference.cache

?????文件???????1883??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.application

?????文件???????1339??2020-03-20?17:49??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.csproj.FileListAbsolute.txt

?????文件???????1316??2020-03-21?09:05??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.csproj.GenerateResource.cache

?????文件??????11482??2020-03-21?09:17??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.csprojAssemblyReference.cache

?????文件?????189952??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.exe

?????文件????????184??2018-08-04?18:49??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.exe.config

?????文件???????3493??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.exe.manifest

?????文件??????32256??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot1?interface.pdb

?????文件????????180??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot1_interface.Form1.resources

?????文件?????174591??2020-03-21?09:19??Visual?Studio?Project\deltabot\obj\Debug\deltabot1_interface.Properties.Resources.resources

?????文件???????1435??2020-03-20?08:15??Visual?Studio?Project\deltabot\obj\Debug\DesignTimeResolveAssemblyReferences.cache

?????文件???????8072??2020-03-21?09:18??Visual?Studio?Project\deltabot\obj\Debug\DesignTimeResolveAssemblyReferencesInput.cache

?????文件???????4096??2020-03-19?17:30??Visual?Studio?Project\deltabot\obj\Debug\TempPE\Properties.Resources.Designer.cs.dll

?????文件????????520??2018-08-04?18:49??Visual?Studio?Project\deltabot\Program.cs

............此處省略39個文件信息