static void Main(string[] args)
{
KukaRsi.MessageSerialization <AgilusMessageToRobot, AgilusMessageFromRobot> ms = new KukaRsi.MessageSerialization <AgilusMessageToRobot, AgilusMessageFromRobot>();
AgilusMessageToRobot msg = new AgilusMessageToRobot();
String s = ms.Serialize(msg);
double velocity = 100;
double acceleration = 100;
//AxisPosition target = new AxisPosition(0, -50, 90, 0, 90, 0);
TcpCoordinate tcpTarget1 = new TcpCoordinate(445, 0, 900, -180, 0, -180);
TcpCoordinate tcpTarget2 = new TcpCoordinate(445, 0, 800, -180, 0, -180);
/* msg.DoubleParameters.Values[0] = tcpTarget.X;
* msg.DoubleParameters.Values[1] = tcpTarget.Y;
* msg.DoubleParameters.Values[2] = tcpTarget.Z;
* msg.DoubleParameters.Values[3] = tcpTarget.A;
* msg.DoubleParameters.Values[4] = tcpTarget.B;
* msg.DoubleParameters.Values[5] = tcpTarget.C;*/
//IPAddress ipAddress = new IPAddress(2252147995); // für 134.61.13.28, 2252147996
//Testen 127.0.0.1
//IPAddress ipAddress = new IPAddress(new byte[4] { 134, 61, 13, 30});
IPEndPoint ipEndPoint = new IPEndPoint(IPAddress.Any, 41975);
Robot agilus = new Robot(ipEndPoint);
//agilus.MoveAbsoluteLinear(tcpTarget);
//agilus.movePTP(1, new List<double> { 0, -50, 90, 0, 90, 0 }, 10, 100);
agilus.MoveAbsoluteLinear(tcpTarget1);
agilus.Start();
//agilus.MoveAbsoluteLinear(tcpTarget);
//agilus.MoveAbsolutePTP(target, velocity, acceleration);
/*agilus.MoveAbsolutePTP(target, velocity, acceleration);
* agilus.MoveAbsolutePTP(target, velocity, acceleration);
* agilus.MoveAbsolutePTP(target, velocity, acceleration);
* agilus.MoveAbsolutePTP(target, velocity, acceleration);*/
//agilus.AgilusMessageToRobot.Command.set = 100;
int i = 0;
Thread.Sleep(10);
while (true)
{
i++;
agilus.MoveAbsoluteLinear(tcpTarget2);
Thread.Sleep(1000);
agilus.MoveAbsoluteLinear(tcpTarget1);
Thread.Sleep(1000);
//agilus.MoveAbsoluteLinear(tcpTarget);
}
//agilus.Stop();
}
/// <summary>
/// Moves the robot linearly for a specified delta
/// </summary>
/// <param name="delta">The delta as relative TCP coordinate</param>
public void MoveRelativeLinear(TcpCoordinate delta)
{
// Perform linear movement in mode 6 (relative)
this.moveLinear(6, delta.EnumerateValues());
}
/// <summary>
/// Moves the robot linearly to a specified target position
/// </summary>
/// <param name="target">The target as TCP coordinate</param>
public void MoveAbsoluteLinear(TcpCoordinate target)
{
// Perform linear movement in mode 5 (absolute)
this.moveLinear(5, target.EnumerateValues());
}
/// <summary>
/// Moves the robot PTP for a specified delta
/// </summary>
/// <param name="delta">The delta as relative TCP coordinate</param>
/// <param name="velocity">The velocity as percentage</param>
/// <param name="acceleration">The acceleration as percentage</param>
public void MoveRelativePTP(TcpCoordinate delta, double velocity, double acceleration)
{
// Perform PTP movement in mode 4 (relative position)
this.movePTP(4, delta.EnumerateValues(), velocity, acceleration);
}
/// <summary>
/// Moves the robot PTP to a specified target position
/// </summary>
/// <param name="target">The target as TCP coordinate</param>
/// <param name="velocity">The velocity as percentage</param>
/// <param name="acceleration">The acceleration as percentage</param>
public void MoveAbsolutePTP(TcpCoordinate target, double velocity, double acceleration)
{
// Perform PTP movement in mode 3 (absolute position)
this.movePTP(3, target.EnumerateValues(), velocity, acceleration);
}
