public void MoveXYZAbsTest()
{
AbbRobot robot = new AbbRobot();
robot.Open("192.168.125.1", 4000);
for (int i = 0; i < 1; i++)
{
var pt = robot.MoveAbs(308, 10, 298, Definations.EnumRobotSpeed.V10, Definations.EnumRobotTool.Tool0);
}
//robot.Close();
//Assert.Fail();
}
public void RotateTest()
{
AbbRobot robot = new AbbRobot();
robot.Open("192.168.125.1", 4000);
for (int i = 0; i < 150; i++)
{
var pt = robot.Rotote(0, -3, 0, Definations.EnumRobotSpeed.V10, Definations.EnumRobotTool.Tool0);
}
//robot.Close();
//Assert.Fail();
}
public void MoveXYZRelTest()
{
AbbRobot robot = new AbbRobot();
robot.Open("192.168.125.1", 4000);
for (int i = 0; i < 150; i++)
{
var pt = robot.MoveRel(3, 0, 0, Definations.EnumRobotSpeed.V1500, Definations.EnumRobotTool.Tool0);
}
//robot.Close();
//Assert.Fail();
}
public void GetCurPosTest()
{
AbbRobot robot = new AbbRobot();
robot.Open("192.168.125.1", 4000);
for (int i = 0; i < 5; i++)
{
var pt = robot.GetCurrentPostion(Definations.EnumRobotTool.Tool1, 3000);
Console.WriteLine($"{pt.X},{pt.Y},{pt.Z}");
}
//robot.Close();
//Assert.Fail();
}
