public void Dispose()
{
if (VREPWrapper.simxPauseCommunication(clientID, 0) != 0)
{
throw new VREPException(simx_error.remote_error_flag, "Restarting communication failed");
}
// Console.WriteLine("--- Set Block closed ------");
}
public VREPSetBlock(int cID)
{
// Console.WriteLine("--- Opening Set Block -----");
clientID = cID;
if (VREPWrapper.simxPauseCommunication(cID, 1) != 0)
{
throw new VREPException(simx_error.remote_error_flag, "Pausing communication failed");
}
}
public static simx_error SetJointPositionControl(int clientID, int jointID, bool onOff)
{
if (positionControlEnabled == onOff)
{
return(simx_error.noerror);
}
var code = new List <simx_error>
{
VREPWrapper.simxSetObjectIntParameter(clientID, jointID, 2001, (onOff) ? 1 : 0, simx_opmode.oneshot_wait),
VREPWrapper.simxSetObjectFloatParameter(clientID, jointID, 2002, P, simx_opmode.oneshot),
VREPWrapper.simxSetObjectFloatParameter(clientID, jointID, 2003, I, simx_opmode.oneshot),
VREPWrapper.simxSetObjectFloatParameter(clientID, jointID, 2004, D, simx_opmode.oneshot)
};
foreach (var c in code.Where(p => p > simx_error.noerror).Select((p, i) => new { Code = p, Index = i }))
{
Console.WriteLine("Errors: {0}: {1} -> {2}", jointID, c.Index, c.Code);
}
positionControlEnabled = onOff;
return(code.Max());
}
public static void EndSetBlock(int clientID)
{
VREPWrapper.simxPauseCommunication(clientID, 0);
}
