public void csvrun()
{
JKTYPE.JointValue home_pos = new JKTYPE.JointValue();
home_pos.jVal = new double[] { 1.18, 1.85, -2.49, 2.76, 1.70, 0.50 };
DataTable cvD1 = CSVFileHelper.ReadCSV("qwe.csv");
int i = 0;
int a;
a = jakaAPI.create_handler("192.168.2.18".ToCharArray(), ref i); //替换自己的ip
Console.WriteLine($"机器人控制句柄{i}创建: {a}");
jakaAPI.power_on(ref i); //机器人上电
jakaAPI.enable_robot(ref i); //机器人上使能
jakaAPI.set_rapidrate(ref i, 1); //设置机器人运行倍率
Console.WriteLine("home");
jakaAPI.joint_move(ref i, ref home_pos, JKTYPE.MoveMode.ABS, true, 0.5);
foreach (DataRow dr in cvD1.Rows)
{
int b;
JKTYPE.CartesianPose pose = new JKTYPE.CartesianPose();
pose.tran.x = double.Parse(dr[0].ToString());
pose.tran.y = double.Parse(dr[1].ToString());
pose.tran.z = 200.0;
pose.rpy.rx = 3.14;
pose.rpy.ry = 0;
pose.rpy.rz = 0;
Console.WriteLine(pose.tran.x);
Console.WriteLine(pose.tran.y);
JKTYPE.OptionalCond jc = new JKTYPE.OptionalCond();
b = jakaAPI.linear_move_extend(ref i, ref pose, JKTYPE.MoveMode.ABS, false, 50, 100, 1, ref jc);
Console.WriteLine(b);
Console.WriteLine(pose.tran.x.GetType().Name);
}
}
public static extern int circular_move(ref int i, ref JKTYPE.CartesianPose end_pos, ref JKTYPE.CartesianPose mid_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed, double acc, double tol, ref JKTYPE.OptionalCond option_cond);
public static extern int linear_move_extend(ref int i, ref JKTYPE.CartesianPose cart_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed, double acc, double tol, ref JKTYPE.OptionalCond option_cond);
public static extern int joint_move_extend(ref int i, ref JKTYPE.JointValue joint_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed, double acc, double tol, ref JKTYPE.OptionalCond option_cond);