/// <summary>
/// Moves the robot linearly for a specified delta
/// </summary>
/// <param name="delta">The delta as relative TCP coordinate</param>
public void MoveRelativeLinear(TcpCoordinate delta)
{
// Perform linear movement in mode 6 (relative)
this.moveLinear(6, delta.EnumerateValues());
}
/// <summary>
/// Moves the robot PTP for a specified delta
/// </summary>
/// <param name="delta">The delta as relative TCP coordinate</param>
/// <param name="velocity">The velocity as percentage</param>
/// <param name="acceleration">The acceleration as percentage</param>
public void MoveRelativePTP(TcpCoordinate delta, double velocity, double acceleration)
{
// Perform PTP movement in mode 4 (relative position)
this.movePTP(4, delta.EnumerateValues(), velocity, acceleration);
}
/// <summary>
/// Moves the robot linearly to a specified target position
/// </summary>
/// <param name="target">The target as TCP coordinate</param>
public void MoveAbsoluteLinear(TcpCoordinate target)
{
// Perform linear movement in mode 5 (absolute)
this.moveLinear(5, target.EnumerateValues());
}
/// <summary>
/// Moves the robot PTP to a specified target position
/// </summary>
/// <param name="target">The target as TCP coordinate</param>
/// <param name="velocity">The velocity as percentage</param>
/// <param name="acceleration">The acceleration as percentage</param>
public void MoveAbsolutePTP(TcpCoordinate target, double velocity, double acceleration)
{
// Perform PTP movement in mode 3 (absolute position)
this.movePTP(3, target.EnumerateValues(), velocity, acceleration);
}
