public JacoArm(string key)
{
m_IsEnabled = false;
m_State = new JacoArmState();
m_Cmd = new CJoystickValue();
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt(key);
m_Arm = new CJacoArm(pass);
Console.WriteLine("Wrapper initialized.");
if (m_Arm.JacoIsReady())
{
m_Arm.ControlManager.StartControlAPI();
// Init sequence, place the arm in READY position.
InitSequence();
Console.WriteLine("The arm is ready.");
m_IsEnabled = true;
}
else
{
Console.WriteLine("The arm is not ready!");
m_IsEnabled = false;
}
} catch (Exception e)
{
System.Console.WriteLine(
"JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
m_IsEnabled = false;
}
// 200 ms delay.
m_WatchDogDelay = new TimeSpan(0, 0, 0, 0, 200);
}
public JacoArm(string key)
{
m_IsEnabled = false;
m_State = new JacoArmState();
m_Cmd = new CJoystickValue();
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt(key);
m_Arm = new CJacoArm(pass);
Console.WriteLine("Wrapper initialized.");
if (m_Arm.JacoIsReady())
{
m_Arm.ControlManager.StartControlAPI();
// Init sequence, place the arm in READY position.
InitSequence();
Console.WriteLine("The arm is ready.");
m_IsEnabled = true;
}
else
{
Console.WriteLine("The arm is not ready!");
m_IsEnabled = false;
}
} catch (Exception e)
{
System.Console.WriteLine(
"JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
m_IsEnabled = false;
}
// 200 ms delay.
m_WatchDogDelay = new TimeSpan(0,0,0,0,200);
}
