private void Poll()
{
//double nidbuff = double.MaxValue;
DateTime dt = DateTime.Now;
while (!bExit)
{
if (ReadCount - ChartCount < 99 && !Pause)
{
// byte[] data = sc.GetAppdata();
double nid = (DateTime.Now - dt).TotalSeconds;
//if (!GetDataByTime)
//{
// nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data));
//}
//double nSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", StaubliXML.Byte2xd(data));
//if (nid != nidbuff && nid > 0)
//{
// nidbuff = nid;
//}
double[] Joint = sc.GetJointPos();
if (Joint != null)
{
speeddata[ReadCount % 100, 0] = nid;
for (int i = 0; i < Joint.Length; i++)
{
speeddata[ReadCount % 100, i + 1] = Joint[i];
}
ReadCount++;
}
}
System.Threading.Thread.Sleep(polltime);
}
}