//send trajectory to jaco
public string sendTraj()
{
try
{
if (Jaco.JacoIsReady())
{
TrajClear();
m_PointsTrajectory.Add(pointTraj);
Jaco.ControlManager.SendBasicTrajectory(m_PointsTrajectory);
//Delay(pointTraj, Jaco);
Logger.addLog("Trajectory Completed (Angles set)");
return("Angle set");
}
else
{
Logger.addLog("Jaco not ready - unable to send trajectory", true);
return("Jaco not ready - unable to send trajectory");
}
}
catch (Exception)
{
Logger.addLog("Error in updating trajectory", true);
return("Error in updating trajectory");
}
}
public JacoArm(string key)
{
m_IsEnabled = false;
m_State = new JacoArmState();
m_Cmd = new CJoystickValue();
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt(key);
m_Arm = new CJacoArm(pass);
Console.WriteLine("Wrapper initialized.");
if (m_Arm.JacoIsReady())
{
m_Arm.ControlManager.StartControlAPI();
// Init sequence, place the arm in READY position.
InitSequence();
Console.WriteLine("The arm is ready.");
m_IsEnabled = true;
}
else
{
Console.WriteLine("The arm is not ready!");
m_IsEnabled = false;
}
} catch (Exception e)
{
System.Console.WriteLine(
"JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
m_IsEnabled = false;
}
// 200 ms delay.
m_WatchDogDelay = new TimeSpan(0, 0, 0, 0, 200);
}
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);
}
}
public JacoArm(string key)
{
m_IsEnabled = false;
m_State = new JacoArmState();
m_Cmd = new CJoystickValue();
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt(key);
m_Arm = new CJacoArm(pass);
Console.WriteLine("Wrapper initialized.");
if (m_Arm.JacoIsReady())
{
m_Arm.ControlManager.StartControlAPI();
// Init sequence, place the arm in READY position.
InitSequence();
Console.WriteLine("The arm is ready.");
m_IsEnabled = true;
}
else
{
Console.WriteLine("The arm is not ready!");
m_IsEnabled = false;
}
} catch (Exception e)
{
System.Console.WriteLine(
"JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
m_IsEnabled = false;
}
// 200 ms delay.
m_WatchDogDelay = new TimeSpan(0,0,0,0,200);
}