public void lin(LuaTable table, float velocity)
{
doneCommand = false;
Controller.LinearCommand command = new Controller.LinearCommand();
command.velocity = Mathf.Min(Mathf.Max(velocity, 0.001f), 2);
if (table["X"] != null)
{
command.target.t[Controller.CartesianAxis.X] = LuaNumber2Float(table["X"]);
}
if (table["Y"] != null)
{
command.target.t[Controller.CartesianAxis.Y] = LuaNumber2Float(table["Y"]);
}
if (table["Z"] != null)
{
command.target.t[Controller.CartesianAxis.Z] = LuaNumber2Float(table["Z"]);
}
if (table["A"] != null)
{
command.target.t[Controller.CartesianAxis.A] = LuaNumber2Float(table["A"]);
}
if (table["B"] != null)
{
command.target.t[Controller.CartesianAxis.B] = LuaNumber2Float(table["B"]);
}
if (table["C"] != null)
{
command.target.t[Controller.CartesianAxis.C] = LuaNumber2Float(table["C"]);
}
currentCommand = command;
while (!doneCommand)
{
System.Threading.Thread.Sleep(1);
}
}
public void SetCurrentCommand(Controller.MotionCommand command)
{
currentCommand = command;
}
public void ptp(LuaTable table, float velocity)
{
bool isJnt = false;
bool isPtp = false;
doneCommand = false;
Controller.JointCommand jnt = new Controller.JointCommand();
jnt.velocity = Mathf.Min(Mathf.Max(velocity, 0.01f), 1.0f);
if (table["A1"] != null)
{
jnt.target.q[Controller.Axis.A1] = LuaNumber2Float(table["A1"]); isJnt = true;
}
if (table["A2"] != null)
{
jnt.target.q[Controller.Axis.A2] = LuaNumber2Float(table["A2"]); isJnt = true;
}
if (table["A3"] != null)
{
jnt.target.q[Controller.Axis.A3] = LuaNumber2Float(table["A3"]); isJnt = true;
}
if (table["A4"] != null)
{
jnt.target.q[Controller.Axis.A4] = LuaNumber2Float(table["A4"]); isJnt = true;
}
if (table["A5"] != null)
{
jnt.target.q[Controller.Axis.A5] = LuaNumber2Float(table["A5"]); isJnt = true;
}
if (table["A6"] != null)
{
jnt.target.q[Controller.Axis.A6] = LuaNumber2Float(table["A6"]); isJnt = true;
}
Controller.PtpCommand ptp = new Controller.PtpCommand();
if (table["X"] != null)
{
ptp.target.t[Controller.CartesianAxis.X] = LuaNumber2Float(table["X"]); isPtp = true;
}
if (table["Y"] != null)
{
ptp.target.t[Controller.CartesianAxis.Y] = LuaNumber2Float(table["Y"]); isPtp = true;
}
if (table["Z"] != null)
{
ptp.target.t[Controller.CartesianAxis.Z] = LuaNumber2Float(table["Z"]); isPtp = true;
}
if (table["A"] != null)
{
ptp.target.t[Controller.CartesianAxis.A] = LuaNumber2Float(table["A"]); isPtp = true;
}
if (table["B"] != null)
{
ptp.target.t[Controller.CartesianAxis.B] = LuaNumber2Float(table["B"]); isPtp = true;
}
if (table["C"] != null)
{
ptp.target.t[Controller.CartesianAxis.C] = LuaNumber2Float(table["C"]); isPtp = true;
}
if (table["I"] != null)
{
ptp.target.i = LuaNumber2Int(table["I"]); isPtp = true;
}
if (isJnt && isPtp)
{
throw new ArgumentException("Both ptp and jnt arguments.");
}
if (isJnt)
{
currentCommand = jnt;
}
else if (isPtp)
{
currentCommand = ptp;
}
while (!doneCommand)
{
System.Threading.Thread.Sleep(1);
}
}
