/// <summary>
/// ホーミング
/// </summary>
public void Homing()
{
HOMECmd homeCmd = new HOMECmd();
ulong cmdIndex = 0;
DobotDll.SetHOMECmd(ref homeCmd, false, ref cmdIndex);
}
private void dobotStuff()
{
PTPJointParams ptpParams;
ptpParams.acceleration = new float[4] {
200, 200, 200, 200
};
ptpParams.velocity = new float[4] {
200, 200, 200, 200
};
PTPCoordinateParams ptpCParams;
ptpCParams.rAcceleration = 200;
ptpCParams.rVelocity = 200;
ptpCParams.xyzAcceleration = 200;
ptpCParams.xyzVelocity = 200;
PTPJumpParams ptpJParams;
ptpJParams.jumpHeight = 10;
ptpJParams.zLimit = 200;
PTPCommonParams ptpCmParams;
ptpCmParams.accelerationRatio = 100;
ptpCmParams.velocityRatio = 100;
WAITCmd wait;
wait.timeout = 2000;
UInt64 cmdIndex = 0;
HOMECmd hmcmd = new HOMECmd();
DobotDll.SetHOMECmd(ref hmcmd, false, ref cmdIndex);
System.Threading.Thread.Sleep(20000);
Pose pose = new Pose();
DobotDll.GetPose(ref pose);
Console.WriteLine(pose.x + ", " + pose.y + ", " + pose.z);
DobotDll.SetPTPJointParams(ref ptpParams, false, ref cmdIndex);
DobotDll.SetPTPCoordinateParams(ref ptpCParams, false, ref cmdIndex);
DobotDll.SetPTPJumpParams(ref ptpJParams, false, ref cmdIndex);
DobotDll.SetPTPCommonParams(ref ptpCmParams, false, ref cmdIndex);
pickNewCard(cmdIndex, wait);
placeCard(290, playerCards * cardDistance, cmdIndex);
playerCards++;
pickNewCard(cmdIndex, wait);
placeCard(200, dealerCards * cardDistance, cmdIndex);
dealerCards++;
pickNewCard(cmdIndex, wait);
placeCard(290, playerCards * cardDistance, cmdIndex);
playerCards++;
}
