void sentPosToYumi(bool sel, ParameterRobot _para)
{
string msgg;
//_para.idCode = 1;
_para.idCode = 93;
msgg = _para.idCode.ToString(); //string.Format(idCode.ToString(), .3d);
msgg = msgg + " " + _para.x.ToString(); //string.Format(tbX.ToString(), 08.1f);
msgg = msgg + " " + _para.y.ToString(); //string.Format(tbY.ToString(), 08.1f);
msgg = msgg + " " + _para.z.ToString(); //string.Format(tbZ.ToString(), 08.1f);
//msgg = msgg + " " + _para.q0.ToString();//string.Format(tbQ0.ToString(), 08.5f);
//msgg = msgg + " " + _para.qx.ToString();//string.Format(tbQx.ToString(), 08.5f);
//msgg = msgg + " " + _para.qy.ToString();//string.Format(tbQy.ToString(), 08.5f);
//msgg = msgg + " " + _para.qz.ToString() + " #";//string.Format(tbQz.ToString(), 08.5f) + " #";
msgg = msgg + " " + _para.Rz.ToString() + " #";
if (sel == R)
{
sendDataToMainWinR(msgg);
//msgStatus(msgg);
}
else if (sel == L)
{
sendDataToMainWinL(msgg);
//msgStatus(msgg);
}
}
void sentJoint(bool sel, ParameterRobot _para)
{
_para.idCode = 2;
string msgg;
msgg = _para.idCode.ToString();
msgg = msgg + " " + _para.q1.ToString(); //string.Format(tbX.ToString(), 08.1f);
msgg = msgg + " " + _para.q2.ToString(); //string.Format(tbY.ToString(), 08.1f);
msgg = msgg + " " + _para.q3.ToString(); //string.Format(tbZ.ToString(), 08.1f);
msgg = msgg + " " + _para.q4.ToString(); //string.Format(tbQ0.ToString(), 08.5f);
msgg = msgg + " " + _para.q5.ToString(); //string.Format(tbQx.ToString(), 08.5f);
msgg = msgg + " " + _para.q6.ToString();
msgg = msgg + " " + _para.q7.ToString() + " #";
if (sel == R)
{
sendDataToMainWinL(msgg);
//msgStatus(msgg);
}
else if (sel == L)
{
sendDataToMainWinR(msgg);
//msgStatus(msgg);
}
}
