static bool SetSpeed(bool cartesian, float speed)
{
if (!CheckControl())
{
return(false);
}
CClientConfigurations c = _jaco.ConfigurationsManager.GetClientConfigurations();
if (speed < 0f)
{
speed = 0f;
}
if (cartesian)
{
if (speed > 0.15f)
{
speed = 0.15f;
}
c.MaxLinearSpeed = speed;
}
else
{
if (speed > 0.6f)
{
speed = 0.6f;
}
c.MaxAngularSpeed = speed;
}
_jaco.ConfigurationsManager.SetClientConfigurations(c);
return(true);
}
public CJacoArm init()
{
const string MyValidPassword = "******";
pointTraj = new CTrajectoryInfo();
try
{
Jaco = new CJacoArm(Crypto.GetInstance().Encrypt(MyValidPassword));
Jaco.ControlManager.StartControlAPI();
}
catch (Exception ex)
{
Logger.addLog("Error initializing Jaco!\n" + ex.Message, true);
return(Jaco);
}
if (Jaco.JacoIsReady())
{
CClientConfigurations config = new CClientConfigurations();
config.ClientName = "Arup";
config.MaxAngularSpeed = 0.2f;
config.Organization = "SV";
Jaco.ConfigurationsManager.SetClientConfigurations(config);
Jaco.ControlManager.EraseTrajectories();
Logger.addLog("Jaco initialized and ready");
return(Jaco);
}
else
{
Logger.addLog("Jaco initialized but not ready", true);
return(Jaco);
}
}
private void DataInitialization()
{
try
{
jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
jaco.GetAPIVersion();
m_OutConnectionStatus.Text = "Jaco is connected.";
}
catch(Exception err)
{
m_OutConnectionStatus.Text = "Jaco is not connected or your password is invalid. Reason: \n" + err.ToString();
}
m_CurrentClientConfig = new CClientConfigurations();
}
private void BTN_ReadClick(object sender, System.EventArgs e)
{
Gtk.Application.Invoke (delegate {
try
{
m_CurrentClientConfig = jaco.ConfigurationsManager.GetClientConfigurations();
m_CodeVersion = jaco.ConfigurationsManager.GetCodeVersion();
UpdateGui();
}
catch(Exception)
{
}
});
}
