private void button_Connect_Click(object sender, EventArgs e)
{
ConnectToController();
InitVariables();
InitPositions();
try {
Robot.Execute("ForceTakeArm"); // Forcefully take control of the robot arm (even if another program is controlling it)
} catch (Exception ex) {
ShowError("ForceTakeArm", ex);
}
}
public void Execute(string cmd, params object[] paras)
{
robot.Execute(cmd, paras);
StringBuilder sb = new StringBuilder();
foreach (var para in paras)
{
sb.Append(para + " ");
}
OnLogEvent(string.Format("Robot: Execute {0} {1}", cmd, sb));
}
/// <summary>
/// try get temp pos P99 to joint
/// </summary>
/// <returns></returns>
public double[] GetP2J()
{
return(robot.Execute("P2J", "P99") as double[]);
}
