public string?Open()
{
try
{
AddDevices();
var link = AUTDSettings.Instance.LinkSelected switch
{
LinkSelect.SOEM => Link.SOEM(AUTDSettings.Instance.InterfaceName.Split(',').LastOrDefault()?.Trim() ?? string.Empty,
_autd.NumDevices, AUTDSettings.Instance.CycleTicks),
LinkSelect.TwinCAT => Link.TwinCAT(),
LinkSelect.Emulator => Link.Emulator(AUTDSettings.Instance.EmulatorPort, _autd),
_ => throw new NotImplementedException()
};
if (!_autd.Open(link))
{
return(AUTD.LastError);
}
IsOpen.Value = true;
_autd.Clear();
return(null);
}
catch (Exception e)
{
return(e.Message);
}
}
void Awake()
{
_autd = new AUTD();
// 単位や座標系はUnity空間に合わせてあります
// つまり, 単位はm, 座標系は"z"軸の反転した左手座標系です
// また, 回転指定にクオータニオンを直接指定できます.
_autd.AddDevice(gameObject.transform.position, gameObject.transform.rotation);
_autd.Open();
_autd.AppendModulationSync(AUTD.SineModulation(150)); // 150 Hz
}
void Awake()
{
_autd = new AUTD();
_autd.AddDevice(gameObject.transform.position, gameObject.transform.rotation);
string ifname = @"write your interface name here";
_link = Link.SOEM(ifname, _autd.NumDevices);
_autd.Open(_link);
_autd.Clear();
_autd.Send(Modulation.Sine(150)); // 150 Hz
}
public static void Test()
{
Console.WriteLine("Test with TwinCAT");
var autd = new AUTD();
autd.AddDevice(Vector3d.Zero, Vector3d.Zero);
var link = Link.TwinCAT();
if (!autd.Open(link))
{
Console.WriteLine(AUTD.LastError);
return;
}
TestRunner.Run(autd);
}
public static void Test()
{
Console.WriteLine("Test with SOEM");
var autd = new AUTD();
autd.AddDevice(Vector3d.Zero, Vector3d.Zero);
//autd.AddDevice(Vector3d.Zero, Vector3d.Zero, 1);
var ifname = GetIfname();
var link = Link.SOEM(ifname, autd.NumDevices, 1, x =>
{
Console.WriteLine($"Unrecoverable error occurred: {x}");
Environment.Exit(-1);
});
if (!autd.Open(link))
{
Console.WriteLine(AUTD.LastError);
return;
}
TestRunner.Run(autd);
}
