protected IEnumerator AutoWork()
{
int atualSpeed;
while (workMode == WorkMode.Auto)
{
yield return(new WaitForSeconds(1f));
atualSpeed = scenceControl.targetProperties.speed;
// отправляем изменённую программу
if (scenceControl.ProgramVectors != programmVectorPackage && scenceControl.ProgramVectors != null && programmWork == true)
{
programmVectorPackage = scenceControl.ProgramVectors;
Joint6[] jointsArray = new Joint6[programmVectorPackage.Length];
byte[] byteArray = new byte[programmVectorPackage.Length * 12];
for (int i = 0; programmVectorPackage.Length > i; i++)
{
jointsArray[i] = Kinematic.InverseKinematicStatic(programmVectorPackage[i]);
byte[] pieceByte = jointsArray[i].ToByteSteam();
pieceByte.CopyTo(byteArray, 12 * i);
}
protocol.SendRequest(byteArray, "P");
}
// отправляем изменёнyю скорость
if (speed != atualSpeed)
{
speed = atualSpeed;
protocol.SendRequest(BitConverter.GetBytes((ushort)speed), "S");
}
}
}
public void ReadInputField()
{
targetProperties.SetSlider(Kinematic.InverseKinematicStatic(targetProperties.GetInputField()));
targetPoint = targetProperties.GetInputField();
targetProperties.SetProp3Slider(KinematicField.lim3Ext.B, KinematicField.lim3Ext.A);
}