WPF 制作机械手动画
偶然的机会想做一个双手臂运转的机械手动作动画，重要的是有前辈写好的可以模仿：WPF开发经验-实现一种三轴机械手控件 - 一团静火 - 博客园
shit，公司禁止上传图片了
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涵盖知识：
1.不可不知的WPF转换（Transform）_wpf matrixtransform-CSDN博客；
2.WPF中的VisualState(视觉状态)_wpf visualstate-CSDN博客；
3.WPF中RenderTransform详解_rendertransformorigin-CSDN博客
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把代码放上来
1.自定义的机械手控件
public class WaferRobotControl: Control
{
static WaferRobotControl()
{
DefaultStyleKeyProperty.OverrideMetadata(typeof(WaferRobotControl), new FrameworkPropertyMetadata(typeof(WaferRobotControl)));
}
public static readonly DependencyProperty WaferProperty = DependencyProperty.Register("Wafer", typeof(int), typeof(WaferRobotControl));
public int Wafer { get => (int)GetValue(WaferProperty); set => SetValue(WaferProperty, value); }
public static readonly DependencyProperty RobotWActionProperty = DependencyProperty.Register(
"RobotWAction",
typeof(WaferRobotWAction),
typeof(WaferRobotControl),
new PropertyMetadata(WaferRobotWAction.W_Origin, RobotWActionPropertyChangedCallback));
public WaferRobotWAction RobotWAction
{
get => (WaferRobotWAction)GetValue(RobotWActionProperty);
set => SetValue(RobotWActionProperty, value);
}
private static void RobotWActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var control = d as WaferRobotControl;
var oldAct = (WaferRobotWAction)e.OldValue;
var newAct = (WaferRobotWAction)e.NewValue;
switch (newAct)
{
case WaferRobotWAction.W_Origin:
VisualStateManager.GoToState(control, newAct.ToString(), true);
break;
case WaferRobotWAction.W_StickOut:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
default:
break;
}
}
public static readonly DependencyProperty RobotRActionProperty = DependencyProperty.Register(
"RobotRAction",
typeof(WaferRobotRAction),
typeof(WaferRobotControl),
new PropertyMetadata(WaferRobotRAction.R_Origin, RobotRActionPropertyChangedCallback));
public WaferRobotRAction RobotRAction
{
get => (WaferRobotRAction)GetValue(RobotRActionProperty);
set => SetValue(RobotRActionProperty, value);
}
private static void RobotRActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var control = d as WaferRobotControl;
var oldAct = (WaferRobotRAction)e.OldValue;
var newAct = (WaferRobotRAction)e.NewValue;
switch (newAct)
{
case WaferRobotRAction.R_Origin:
VisualStateManager.GoToState(control, newAct.ToString(), true);
break;
case WaferRobotRAction.R_StickOut:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
default:
break;
}
}
public static readonly DependencyProperty RobotTActionProperty = DependencyProperty.Register(
"RobotTAction",
typeof(WaferRobotTAction),
typeof(WaferRobotControl),
new PropertyMetadata(WaferRobotTAction.T_Origin, RobotTActionPropertyChangedCallback));
public WaferRobotTAction RobotTAction
{
get => (WaferRobotTAction)GetValue(RobotTActionProperty);
set => SetValue(RobotTActionProperty, value);
}
private static void RobotTActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var control = d as WaferRobotControl;
var oldAct = (WaferRobotTAction)e.OldValue;
var newAct = (WaferRobotTAction)e.NewValue;
switch (newAct)
{
case WaferRobotTAction.T_Origin:
VisualStateManager.GoToState(control, newAct.ToString(), true);
break;
case WaferRobotTAction.T_CW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
case WaferRobotTAction.T_CCW:
if (newAct != oldAct)
{
VisualStateManager.GoToState(control, newAct.ToString(), true);
}
break;
default:
break;
}
}
public override void OnApplyTemplate()
{
base.OnApplyTemplate();
VisualStateManager.GoToState(this, WaferRobotWAction.W_Origin.ToString(), true);
VisualStateManager.GoToState(this, WaferRobotRAction.R_Origin.ToString(), true);
VisualStateManager.GoToState(this, WaferRobotTAction.T_Origin.ToString(), true);
}
}
}2.机械手手臂（轴）状态
public enum WaferRobotRAction
{
R_Origin,
R_StickOut
}
public enum WaferRobotWAction
{
W_Origin,
W_StickOut
}
public enum WaferRobotTAction
{
T_Origin,
T_CW,
T_CCW
}3.控件对应的模版
<SolidColorBrush x:Key="robotBorderBrush" Color="#030303" />
<Style TargetType="{x:Type myWaferRobot:WaferRobotControl}" >
<Setter Property="Cursor" Value="Hand" />
<Setter Property="Width" Value="200"/>
<Setter Property="Height" Value="300"/>
<Setter Property="Template">
<Setter.Value>
<ControlTemplate TargetType="{x:Type myWaferRobot:WaferRobotControl}">
<Viewbox x:Name="viewbox" Stretch="Fill">
<VisualStateManager.VisualStateGroups>
<!--<VisualStateGroup Name="RobotActions">
<VisualStateGroup.Transitions>
<VisualTransition To="Z_CW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y">
<LinearDoubleKeyFrame Value="-90" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y">
<LinearDoubleKeyFrame Value="-90" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
<VisualTransition To="Z_CCW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
</VisualStateGroup.Transitions>
<VisualState Name="Z_Origin">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" >
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" >
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
<VisualState Name="Z_CW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" Duration="0" >
<LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" >
<LinearDoubleKeyFrame Value="-90" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
<VisualState Name="Z_CCW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" >
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" >
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
</VisualStateGroup>-->
<VisualStateGroup Name="RobotArmRActions">
<VisualStateGroup.Transitions>
<VisualTransition To="R_StickOut">
<Storyboard FillBehavior="HoldEnd" SpeedRatio="6">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="70" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="-65" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="80" KeyTime="0:0:1"/>
<LinearDoubleKeyFrame Value="70" KeyTime="0:0:2"/>
<LinearDoubleKeyFrame Value="60" KeyTime="0:0:3"/>
<LinearDoubleKeyFrame Value="50" KeyTime="0:0:4"/>
<LinearDoubleKeyFrame Value="40" KeyTime="0:0:5"/>
<LinearDoubleKeyFrame Value="30" KeyTime="0:0:6"/>
<LinearDoubleKeyFrame Value="20" KeyTime="0:0:7"/>
<LinearDoubleKeyFrame Value="10" KeyTime="0:0:8"/>
<LinearDoubleKeyFrame Value="0 " KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
<VisualTransition To="R_Origin">
<Storyboard FillBehavior="HoldEnd" SpeedRatio="6">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="68" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="-65" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:9"/>
<LinearDoubleKeyFrame Value="80" KeyTime="0:0:8"/>
<LinearDoubleKeyFrame Value="70" KeyTime="0:0:7"/>
<LinearDoubleKeyFrame Value="60" KeyTime="0:0:6"/>
<LinearDoubleKeyFrame Value="50" KeyTime="0:0:5"/>
<LinearDoubleKeyFrame Value="40" KeyTime="0:0:4"/>
<LinearDoubleKeyFrame Value="30" KeyTime="0:0:3"/>
<LinearDoubleKeyFrame Value="20" KeyTime="0:0:2"/>
<LinearDoubleKeyFrame Value="10" KeyTime="0:0:1"/>
<LinearDoubleKeyFrame Value="0 " KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
</VisualStateGroup.Transitions>
<VisualState Name="R_StickOut">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
<VisualState Name="R_Origin">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="68" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="-65" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armRT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
</VisualStateGroup>
<VisualStateGroup Name="RobotArmWActions">
<VisualStateGroup.Transitions>
<VisualTransition To="W_StickOut">
<Storyboard FillBehavior="HoldEnd" SpeedRatio="6">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="-68" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="63" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="80" KeyTime="0:0:1"/>
<LinearDoubleKeyFrame Value="70" KeyTime="0:0:2"/>
<LinearDoubleKeyFrame Value="60" KeyTime="0:0:3"/>
<LinearDoubleKeyFrame Value="50" KeyTime="0:0:4"/>
<LinearDoubleKeyFrame Value="40" KeyTime="0:0:5"/>
<LinearDoubleKeyFrame Value="30" KeyTime="0:0:6"/>
<LinearDoubleKeyFrame Value="20" KeyTime="0:0:7"/>
<LinearDoubleKeyFrame Value="10" KeyTime="0:0:8"/>
<LinearDoubleKeyFrame Value="0 " KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
<VisualTransition To="W_Origin">
<Storyboard FillBehavior="HoldEnd" SpeedRatio="6">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="-68" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
<LinearDoubleKeyFrame Value="63" KeyTime="0:0:9"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:9"/>
<LinearDoubleKeyFrame Value="80" KeyTime="0:0:8"/>
<LinearDoubleKeyFrame Value="70" KeyTime="0:0:7"/>
<LinearDoubleKeyFrame Value="60" KeyTime="0:0:6"/>
<LinearDoubleKeyFrame Value="50" KeyTime="0:0:5"/>
<LinearDoubleKeyFrame Value="40" KeyTime="0:0:4"/>
<LinearDoubleKeyFrame Value="30" KeyTime="0:0:3"/>
<LinearDoubleKeyFrame Value="20" KeyTime="0:0:2"/>
<LinearDoubleKeyFrame Value="10" KeyTime="0:0:1"/>
<LinearDoubleKeyFrame Value="0 " KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
</VisualStateGroup.Transitions>
<VisualState Name="W_StickOut">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
<VisualState Name="W_Origin">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT1RotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="-68" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2ArmRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="63" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="armWT2Act" Storyboard.TargetProperty="X">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
</VisualStateGroup>
<VisualStateGroup Name="RobotTActions">
<VisualStateGroup.Transitions>
<VisualTransition To="T_Origin">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
<VisualTransition To="T_CW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="180" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
<VisualTransition To="T_CCW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="0" KeyTime="0:0:1"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualTransition>
</VisualStateGroup.Transitions>
<VisualState Name="T_Origin">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="90" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
<VisualState Name="T_CCW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="00" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
<VisualState Name="T_CW">
<Storyboard FillBehavior="HoldEnd">
<DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle">
<LinearDoubleKeyFrame Value="180" KeyTime="0:0:0"/>
</DoubleAnimationUsingKeyFrames>
</Storyboard>
</VisualState>
</VisualStateGroup>
</VisualStateManager.VisualStateGroups>
<Canvas Width="200" Height="300" Background="Transparent" >
<Canvas x:Name="robot" Width="200" Height="200" RenderTransformOrigin="0.5 0.5" Background="BlanchedAlmond" >
<Canvas.RenderTransform>
<TransformGroup>
<RotateTransform x:Name="robotRotateAct"/>
<TranslateTransform x:Name="robotUpDownAct"/>
</TransformGroup>
</Canvas.RenderTransform>
<Canvas x:Name="armWT1" Width="200" Height="100" Canvas.Left="0" Canvas.Top="50" RenderTransformOrigin="0.5 0.5" Background="Transparent">
<Canvas.RenderTransform>
<RotateTransform x:Name="armWT1RotateAct"/>
</Canvas.RenderTransform>
<Canvas x:Name="armWT1Arm" Width="70" Height="30" Canvas.Left="30" Canvas.Top="35" >
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#FF7F50" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="0 5" IsClosed="True">
<LineSegment Point="51 0"/>
<LineSegment Point="51 30" IsStroked="False"/>
<LineSegment Point="0 25"/>
<LineSegment Point="0 5" IsStroked="False"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="0"
StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#FF7F50"
Data="M 0,5 A 10,10 0 0 0 0,25">
</Path>
</Canvas>
<Canvas x:Name="armWT1Center" Width="40" Height="40" Canvas.Left="80" Canvas.Top="30" >
<Path Stroke="{StaticResource robotBorderBrush}" Fill="Blue" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="0 6" IsClosed="True">
<LineSegment Point="6 0"/>
<LineSegment Point="34 0"/>
<LineSegment Point="40 6"/>
<LineSegment Point="40 34"/>
<LineSegment Point="34 40"/>
<LineSegment Point="6 40"/>
<LineSegment Point="0 34"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
</Canvas>
</Canvas>
<Canvas x:Name="armWT2" Width="70" Height="50" Canvas.Left="-95" Canvas.Top="80" Background="Transparent">
<Canvas.RenderTransform>
<TransformGroup>
<TranslateTransform x:Name="armWT2Act"></TranslateTransform>
</TransformGroup>
</Canvas.RenderTransform>
<Canvas x:Name="armWT2Arm" Width="70" Height="20" Canvas.Left="50" Canvas.Top="10" RenderTransformOrigin="0 0.5" >
<Canvas.RenderTransform>
<RotateTransform x:Name="armWT2ArmRotateAct"/>
</Canvas.RenderTransform>
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="70"
StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#6495ED"
Data="M 0,0 A 10,10 0 0 1 0,20">
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="0"
StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#6495ED"
Data="M 0,0 A 10,10 0 0 0 0,20">
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#6495ED" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="70 0" >
<LineSegment Point="0 0" />
<LineSegment Point="0 20" IsStroked="False"/>
<LineSegment Point="70 20"/>
<LineSegment Point="70 0" IsStroked="False"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Ellipse Width="12" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent"
Canvas.Top="4" Canvas.Left="62"/>
</Canvas>
<Canvas x:Name="armWGripper" Height="40" Width="50" Canvas.Left="0" Canvas.Top="0" >
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="2" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="30 14" >
<LineSegment Point="10 14" />
<LineSegment Point="4 8" />
<LineSegment Point="-6 8" />
</PathFigure>
<PathFigure StartPoint="30 26" >
<LineSegment Point="10 26" />
<LineSegment Point="4 32" />
<LineSegment Point="-6 32" />
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#7A7E90" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="40 0" >
<LineSegment Point="60 0" />
<LineSegment Point="60 40" />
<LineSegment Point="40 40" />
<LineSegment Point="30 30" />
<LineSegment Point="30 10" />
<LineSegment Point="40 0" />
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#7A7E90" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="30 10" >
<LineSegment Point="20 10" />
<LineSegment Point="20 30" />
<LineSegment Point="30 30" />
<LineSegment Point="30 10" IsStroked="False"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Ellipse Width="12" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent"
Canvas.Top="14" Canvas.Left="44"/>
<Ellipse x:Name="waferW" Width="40" Height="40" StrokeThickness="1" Stroke="Black" Canvas.Left="-24" Fill="Blue"
Visibility="{Binding Wafer,Converter={StaticResource cvt1}}"/>
<!--RelativeSource={RelativeSource TemplatedParent}}"
Fill="{Binding Wafer,Converter={StaticResource WaferIntToColorConverter},
RelativeSource={RelativeSource TemplatedParent}}"/>-->
</Canvas>
</Canvas>
<Canvas x:Name="armRT1" Width="200" Height="100" Canvas.Left="0" Canvas.Top="50" RenderTransformOrigin="0.5 0.5" Background="Transparent">
<Canvas.RenderTransform>
<RotateTransform x:Name="armRT1RotateAct"/>
</Canvas.RenderTransform>
<Canvas x:Name="armRT1Arm" Width="70" Height="30" Canvas.Left="30" Canvas.Top="35" >
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#FF7F50" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="0 5" IsClosed="True">
<LineSegment Point="51 0"/>
<LineSegment Point="51 30" IsStroked="False"/>
<LineSegment Point="0 25"/>
<LineSegment Point="0 5" IsStroked="False"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="0"
StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#FF7F50"
Data="M 0,5 A 10,10 0 0 0 0,25">
</Path>
</Canvas>
<Canvas x:Name="armRT1Center" Width="40" Height="40" Canvas.Left="80" Canvas.Top="30" >
<Path Stroke="{StaticResource robotBorderBrush}" Fill="Blue" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="0 6" IsClosed="True">
<LineSegment Point="6 0"/>
<LineSegment Point="34 0"/>
<LineSegment Point="40 6"/>
<LineSegment Point="40 34"/>
<LineSegment Point="34 40"/>
<LineSegment Point="6 40"/>
<LineSegment Point="0 34"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
</Canvas>
</Canvas>
<Canvas x:Name="armRT2" Width="70" Height="50" Canvas.Left="-95" Canvas.Top="80" Background="Transparent">
<Canvas.RenderTransform>
<TransformGroup>
<TranslateTransform x:Name="armRT2Act"></TranslateTransform>
</TransformGroup>
</Canvas.RenderTransform>
<Canvas x:Name="armRT2Arm" Width="70" Height="20" Canvas.Left="50" Canvas.Top="10" RenderTransformOrigin="0 0.5" >
<Canvas.RenderTransform>
<RotateTransform x:Name="armRT2ArmRotateAct"/>
</Canvas.RenderTransform>
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="70"
StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#6495ED"
Data="M 0,0 A 10,10 0 0 1 0,20">
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="1" Canvas.Left="0"
StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#6495ED"
Data="M 0,0 A 10,10 0 0 0 0,20">
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#6495ED" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="70 0" >
<LineSegment Point="0 0" />
<LineSegment Point="0 20" IsStroked="False"/>
<LineSegment Point="70 20"/>
<LineSegment Point="70 0" IsStroked="False"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Ellipse Width="12" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent"
Canvas.Top="4" Canvas.Left="62"/>
</Canvas>
<Canvas x:Name="armRGripper" Height="40" Width="50" Canvas.Left="0" Canvas.Top="0" >
<Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="2" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="30 14" >
<LineSegment Point="10 14" />
<LineSegment Point="4 8" />
<LineSegment Point="-6 8" />
</PathFigure>
<PathFigure StartPoint="30 26" >
<LineSegment Point="10 26" />
<LineSegment Point="4 32" />
<LineSegment Point="-6 32" />
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#7A7E90" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="40 0" >
<LineSegment Point="60 0" />
<LineSegment Point="60 40" />
<LineSegment Point="40 40" />
<LineSegment Point="30 30" />
<LineSegment Point="30 10" />
<LineSegment Point="40 0" />
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Path Stroke="{StaticResource robotBorderBrush}" Fill="#7A7E90" StrokeThickness="1" StrokeEndLineCap="Round" >
<Path.Data>
<PathGeometry>
<PathFigure StartPoint="30 10" >
<LineSegment Point="20 10" />
<LineSegment Point="20 30" />
<LineSegment Point="30 30" />
<LineSegment Point="30 10" IsStroked="False"/>
</PathFigure>
</PathGeometry>
</Path.Data>
</Path>
<Ellipse Width="12" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent"
Canvas.Top="14" Canvas.Left="44"/>
<Ellipse x:Name="waferR" Width="40" Height="40" StrokeThickness="1" Stroke="Black" Canvas.Left="-24" Fill="Blue"
Visibility="{Binding Wafer,Converter={StaticResource cvt1}}"/>
<!--RelativeSource={RelativeSource TemplatedParent}}"
Fill="{Binding Wafer,Converter={StaticResource WaferIntToColorConverter},
RelativeSource={RelativeSource TemplatedParent}}"/>-->
</Canvas>
</Canvas>
</Canvas>
</Canvas>
</Viewbox>
</ControlTemplate>
</Setter.Value>
</Setter>
</Style>使用：
private void TCWButton_Click(object sender, RoutedEventArgs e)
{
robot.RobotTAction = WaferRobotTAction.T_CW;
}通过方法里改变控件对象的属性就可以改变控件的现实状态；