public static void TaskStartExample()
{
Console.WriteLine("send_file0: " + HRobot.send_file(device_id, "../../../code0.hrb", "code0.hrb"));
Thread.Sleep(500);
Console.WriteLine("send_file1: " + HRobot.send_file(device_id, "../../../code1.hrb", "code1.hrb"));
Thread.Sleep(500);
Console.WriteLine("send_file2: " + HRobot.send_file(device_id, "../../../code2.hrb", "code2.hrb"));
Thread.Sleep(500);
Console.WriteLine("send_file3: " + HRobot.send_file(device_id, "../../../code3.hrb", "code3.hrb"));
Thread.Sleep(500);
double[] pos = new double[6];
HRobot.get_current_position(device_id, pos); // run callback.
while (true)
{
if (!is_Run)
{
switch (x % 4)
{
case 0:
HRobot.task_start(device_id, "code0.hrb");
break;
case 1:
HRobot.task_start(device_id, "code1.hrb");
break;
case 2:
HRobot.task_start(device_id, "code2.hrb");
break;
case 3:
HRobot.task_start(device_id, "code3.hrb");
break;
}
Console.WriteLine("run code{0}.hrb", x % 4);
is_Run = true;
}
Thread.Sleep(4000);
}
}
// If you want to get the network information, you does have this function.
// The received parameter is set to the value of the counter.
public static void run_notify(object device_id)
{
int id = ( int )device_id;
Console.WriteLine("Strat Notify. ");
double[] pos = new double[6];
HRobot.get_current_position(id, pos);
while (true)
{
HRobot.network_get_state(id);
if (is_received)
{
for (int i = 1; i <= recv_val.Count; i++)
{
if (Int32.TryParse(recv_val[i - 1], out int tmp))
{
HRobot.set_counter(id, i, tmp);
}
}
is_received = false;
}
Thread.Sleep(200);
}
}
public static void SoftLimitExample(int device_id)
{
double[] joint_low_limit = { -20, -20, -35, -20, 0, 0 };
double[] joint_high_limit = { 20, 20, 0, 0, 0, 0 };
double[] cart_low_limit = { -100, 300, -100, 0, 0, 0 };
double[] cart_high_limit = { 100, 450, -25, 0, 0, 0 };
double[] cart_home = { 0, 400, 0, 0, -90, 0 };
double[] joint_home = { 0, 0, 0, 0, -90, 0 };
double[] now_pos = { 0, 0, 0, 0, 0, 0 };
bool re_bool = false;
HRobot.get_current_position(device_id, now_pos);
// run joint softlimit
HRobot.set_override_ratio(device_id, 100);
HRobot.set_joint_soft_limit(device_id, joint_low_limit, joint_high_limit);
HRobot.enable_joint_soft_limit(device_id, true);
HRobot.enable_cart_soft_limit(device_id, false);
HRobot.get_joint_soft_limit_config(device_id, ref re_bool, joint_low_limit, joint_high_limit);
Console.WriteLine("Enable Joint SoftLimit: " + re_bool);
HRobot.jog_home(device_id);
wait_for_stop(device_id);
Thread.Sleep(1000);
for (int i = 0; i < 4; i++)
{
HRobot.jog(device_id, 1, i, -1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
}
for (int i = 0; i < 4; i++)
{
HRobot.jog(device_id, 1, i, 1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
}
HRobot.enable_joint_soft_limit(device_id, false);
// run cartesian softlimit
HRobot.ptp_axis(device_id, 0, joint_home);
wait_for_stop(device_id);
HRobot.set_cart_soft_limit(device_id, cart_low_limit, cart_high_limit);
HRobot.enable_cart_soft_limit(device_id, true);
HRobot.get_cart_soft_limit_config(device_id, ref re_bool, cart_low_limit, cart_high_limit);
Console.WriteLine("Enable Cart SoftLimit: " + re_bool);
HRobot.lin_pos(device_id, 0, 0, cart_home);
wait_for_stop(device_id);
for (int i = 0; i < 3; i++)
{
HRobot.jog(device_id, 0, i, -1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
Console.WriteLine("");
HRobot.clear_alarm(device_id);
Thread.Sleep(2000);
}
for (int i = 0; i < 3; i++)
{
HRobot.jog(device_id, 0, i, 1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
Console.WriteLine("");
HRobot.clear_alarm(device_id);
Thread.Sleep(2000);
}
Console.WriteLine("End of motion");
HRobot.enable_joint_soft_limit(device_id, false);
HRobot.enable_cart_soft_limit(device_id, false);
}
