static void Main(string[] args)
{
string MyValidPassword = "******";
C2CS.CartesianPosition pose = new C2CS.CartesianPosition();
pose.InitStruct();
C2CS.TrajectoryPoint tp = new C2CS.TrajectoryPoint();
tp.InitStruct();
try
{
int result = InitAPI();
RefresDevicesList();
MoveHome();
SetCartesianControl();
GetCartesianPosition(ref pose);
tp.Position.CartesianPosition.X = pose.Coordinates.X - 0.10f;
tp.Position.CartesianPosition.Y = pose.Coordinates.Y;
tp.Position.CartesianPosition.Z = pose.Coordinates.Z;
tp.Position.CartesianPosition.ThetaX = pose.Coordinates.ThetaX;
tp.Position.CartesianPosition.ThetaY = pose.Coordinates.ThetaY;
tp.Position.CartesianPosition.ThetaZ = pose.Coordinates.ThetaZ;
tp.Position.Fingers.Finger1 = pose.Fingers.Finger1;
tp.Position.Fingers.Finger2 = pose.Fingers.Finger2;
tp.Position.Fingers.Finger3 = pose.Fingers.Finger3;
SendBasicTrajectory(tp);
int result2 = CloseAPI();
}
catch (Exception ex)
{
System.Console.WriteLine("Exception during execution of the example. Verify " +
"your API installation, verify if your Jaco is " +
"connected and verify that " +
"you have a valid password.");
}
System.Console.WriteLine("End of the example...");
System.Console.ReadKey();
}
public static extern int GetCartesianPosition(ref C2CS.CartesianPosition pose);