/// <summary> /// ホーミング /// </summary> public void Homing() { HOMECmd homeCmd = new HOMECmd(); ulong cmdIndex = 0; DobotDll.SetHOMECmd(ref homeCmd, false, ref cmdIndex); }
private void dobotStuff() { PTPJointParams ptpParams; ptpParams.acceleration = new float[4] { 200, 200, 200, 200 }; ptpParams.velocity = new float[4] { 200, 200, 200, 200 }; PTPCoordinateParams ptpCParams; ptpCParams.rAcceleration = 200; ptpCParams.rVelocity = 200; ptpCParams.xyzAcceleration = 200; ptpCParams.xyzVelocity = 200; PTPJumpParams ptpJParams; ptpJParams.jumpHeight = 10; ptpJParams.zLimit = 200; PTPCommonParams ptpCmParams; ptpCmParams.accelerationRatio = 100; ptpCmParams.velocityRatio = 100; WAITCmd wait; wait.timeout = 2000; UInt64 cmdIndex = 0; HOMECmd hmcmd = new HOMECmd(); DobotDll.SetHOMECmd(ref hmcmd, false, ref cmdIndex); System.Threading.Thread.Sleep(20000); Pose pose = new Pose(); DobotDll.GetPose(ref pose); Console.WriteLine(pose.x + ", " + pose.y + ", " + pose.z); DobotDll.SetPTPJointParams(ref ptpParams, false, ref cmdIndex); DobotDll.SetPTPCoordinateParams(ref ptpCParams, false, ref cmdIndex); DobotDll.SetPTPJumpParams(ref ptpJParams, false, ref cmdIndex); DobotDll.SetPTPCommonParams(ref ptpCmParams, false, ref cmdIndex); pickNewCard(cmdIndex, wait); placeCard(290, playerCards * cardDistance, cmdIndex); playerCards++; pickNewCard(cmdIndex, wait); placeCard(200, dealerCards * cardDistance, cmdIndex); dealerCards++; pickNewCard(cmdIndex, wait); placeCard(290, playerCards * cardDistance, cmdIndex); playerCards++; }