public void Move(float[] Poses)
{
if (Poses.Length != 6)
{
throw new ArgumentException("給的pose應該要是6個才對。");
}
foreach (float Pose in Poses)
{
if (Pose == 0)
{
throw new ArgumentException("數值不能有0，UR3很任性的。");
}
}
byte[] data = Encoding.UTF8.GetBytes(URHandler.FloatArrayToURPose(Poses));
Stream.Write(StatusCode.MovePoseWithCMD, 0, 1);
StreamRead(100, "Move");
Stream.Write(data, 0, data.Length);
StreamRead(100, "DoneMove");
}
public async Task MoveAsync(float[] Poses)
{
if (Poses.Length != 6)
{
throw new ArgumentException("給的pose應該要是6個才對。");
}
foreach (float Pose in Poses)
{
if (Pose == 0)
{
throw new ArgumentException("數值不能有0，UR3很任性的。");
}
}
byte[] data = Encoding.UTF8.GetBytes(URHandler.FloatArrayToURPose(Poses));
await Stream.WriteAsync(StatusCode.MovePoseWithCMD, 0, 1).ConfigureAwait(false);
await StreamReadAsync(100, "Move").ConfigureAwait(false);
await Stream.WriteAsync(data, 0, data.Length).ConfigureAwait(false);
await StreamReadAsync(100, "DoneMove").ConfigureAwait(false);
}
