public bool ArriveSetoff4DOF_level(double x, double y, double z, int mod) //模式0为顺序执行，模式1为一起执行
{
bool ifsol = InverseKinematics.IK4DOF_level(x, y, z, out joint4DOF_level);
if (ifsol)
{
if (mod == 0)
{
TogetherRun4DOF(joint4DOF_level, 50, ref lastJoint4DOF);
}
else
{
TogetherRun4DOF(joint4DOF_level, 16, ref lastJoint4DOF);
}
}
else
{
lastJoint4DOF = joint4DOF_level;
}
return(ifsol);
}
public bool ArriveSetoff4DOF_level_con(double x, double y, double z, int mod) //模式0为顺序执行，模式1为一起执行
{
bool ifsol = InverseKinematics.IK4DOF_level(x, y, z, out joint4DOF_level);
joint4DOF_level[1] -= 10;
joint4DOF_level[2] -= 10;
joint4DOF_level[3] -= 1;
if (ifsol)
{
if (mod == 0)
{
SortOrderRun4DOF(joint4DOF_level, ref lastJoint4DOF);
}
else
{
TogetherRun4DOF_con(joint4DOF_level, ref lastJoint4DOF);
}
}
else
{
lastJoint4DOF = joint4DOF_level;
}
return(ifsol);
}
