//当要记录点位的时候，把此时的点位置记录下来（标准的格式，不做转换，保留小数点）
public double[] GetPose()
{
URRegisterHandle.connectServer();
int ReadNum = 6;
int ReadStartAddress = 400;
int[] SixPositions = new int[6];
SixPositions = URRegisterHandle.ReadMultipleRegister(ReadNum, ReadStartAddress);
double[] PositionsFiltered = new double[6];
for (int i = 0; i < 6; i++)
{
if (SixPositions[i] > 32768)
{
SixPositions[i] = SixPositions[i] - 65535;
}
//这里全部用浮点值
if (i < 3)
{
PositionsFiltered[i] = (float)SixPositions[i] / 10000;
}
else
{
PositionsFiltered[i] = (float)SixPositions[i] / 1000;
}
}
return(PositionsFiltered);
}
private void Register_Load(object sender, EventArgs e)
{
//读取配置文件的IP
FilesINI ConfigController = new FilesINI();
string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
URRegisterHandle.connectServer();
}
