public PostionVar GetCurrPosEx2(PosVarType ptype)
{
Send(string.Format("cmd={0};a1=0;a2={1};a3=0;a4=0;a5=0;", Commands.CMD_MpGetCarPosEx, ptype == PosVarType.Robot ? 1 : 0));
var re = string.Empty;
do
{
re = ReadSck();
} while (string.IsNullOrEmpty(re) || re == "OK\r\n");
var currPos = CurrPosFormat(re);
var pv = new PostionVar(decimal.Parse(currPos["(X)"]),
decimal.Parse(currPos["(Y)"]),
decimal.Parse(currPos["(Z)"]),
decimal.Parse(currPos["(Rx)"]),
decimal.Parse(currPos["(Ry)"]),
decimal.Parse(currPos["(Rz)"]), 0, false);
return(pv);
}
public bool SetPostion(PosVarType ptype, PostionVar pv, int pvIndex, PosType pt, int toolNo, int userFrameNo)
{
int nConfig;
nConfig = (int)pt;
nConfig |= (pv.NoFlip ? 1 : 0) << 8;
nConfig |= (pv.LowArm ? 1 : 0) << 9;
nConfig |= (pv.Back ? 1 : 0) << 10;
nConfig |= (pv.RGt180 ? 1 : 0) << 11;
nConfig |= (pv.TGt180 ? 1 : 0) << 12;
nConfig |= toolNo << 16;
nConfig |= userFrameNo << 22;
var cmd = string.Format("cmd={0};usType={1};usIndex={2};nConfig={3};ulValue1={4};ulValue2={5};ulValue3={6};ulValue4={7};ulValue5={8};ulValue6={9};ulValue7={10};ulValue8={11};",
Commands.CMD_MpPutPosVarData, (int)ptype, pvIndex, nConfig,
pv.sOrX, pv.lOrY, pv.uOrZ, pv.bOrRx, pv.rOrRy, pv.tOrRz, 0, 0);
Send(cmd);
var s = ReadSck();
return(s.Contains("OK"));
}