static void Main(string[] args)
{
KukaRsi.MessageSerialization <AgilusMessageToRobot, AgilusMessageFromRobot> ms = new KukaRsi.MessageSerialization <AgilusMessageToRobot, AgilusMessageFromRobot>();
AgilusMessageToRobot msg = new AgilusMessageToRobot();
String s = ms.Serialize(msg);
double velocity = 100;
double acceleration = 100;
//AxisPosition target = new AxisPosition(0, -50, 90, 0, 90, 0);
TcpCoordinate tcpTarget1 = new TcpCoordinate(445, 0, 900, -180, 0, -180);
TcpCoordinate tcpTarget2 = new TcpCoordinate(445, 0, 800, -180, 0, -180);
/* msg.DoubleParameters.Values[0] = tcpTarget.X;
* msg.DoubleParameters.Values[1] = tcpTarget.Y;
* msg.DoubleParameters.Values[2] = tcpTarget.Z;
* msg.DoubleParameters.Values[3] = tcpTarget.A;
* msg.DoubleParameters.Values[4] = tcpTarget.B;
* msg.DoubleParameters.Values[5] = tcpTarget.C;*/
//IPAddress ipAddress = new IPAddress(2252147995); // für 134.61.13.28, 2252147996
//Testen 127.0.0.1
//IPAddress ipAddress = new IPAddress(new byte[4] { 134, 61, 13, 30});
IPEndPoint ipEndPoint = new IPEndPoint(IPAddress.Any, 41975);
Robot agilus = new Robot(ipEndPoint);
//agilus.MoveAbsoluteLinear(tcpTarget);
//agilus.movePTP(1, new List<double> { 0, -50, 90, 0, 90, 0 }, 10, 100);
agilus.MoveAbsoluteLinear(tcpTarget1);
agilus.Start();
//agilus.MoveAbsoluteLinear(tcpTarget);
//agilus.MoveAbsolutePTP(target, velocity, acceleration);
/*agilus.MoveAbsolutePTP(target, velocity, acceleration);
* agilus.MoveAbsolutePTP(target, velocity, acceleration);
* agilus.MoveAbsolutePTP(target, velocity, acceleration);
* agilus.MoveAbsolutePTP(target, velocity, acceleration);*/
//agilus.AgilusMessageToRobot.Command.set = 100;
int i = 0;
Thread.Sleep(10);
while (true)
{
i++;
agilus.MoveAbsoluteLinear(tcpTarget2);
Thread.Sleep(1000);
agilus.MoveAbsoluteLinear(tcpTarget1);
Thread.Sleep(1000);
//agilus.MoveAbsoluteLinear(tcpTarget);
}
//agilus.Stop();
}
/// <summary>
/// Stops the execution of the Agilus robot program
/// </summary>
public void StopExecution()
{
// Create the message
AgilusMessageToRobot stopMessage = new AgilusMessageToRobot(100);
// Send the message
this.KukaRobot.Send(stopMessage);
}
// Base method for linear movement
private void moveLinear(int mode, IEnumerable <double> linear)
{
// Create the message
AgilusMessageToRobot linearMessage = new AgilusMessageToRobot(mode)
{
DoubleParameters = new DoubleParameters(linear.ToArray())
};
// Send the message
this.KukaRobot.Send(linearMessage);
}
// Base method for PTP movement
private void movePTP(int mode, IEnumerable <double> ptp, double velocity, double acceleration)
{
double[] parameters = new double[8];
// Copy the target values to the parameters
ptp.ToArray().CopyTo(parameters, 0);
// Copy velocity and acceleration to the parameters
parameters[6] = velocity; parameters[7] = acceleration;
// Create the message
AgilusMessageToRobot ptpMessage = new AgilusMessageToRobot(mode)
{
DoubleParameters = new DoubleParameters(parameters)
};
// Send the message
this.KukaRobot.Send(ptpMessage);
}
