static private RobotStatus Reset(RobotAgent robot_agent, object[] args) { int ret = robot_agent.Reset(); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus HomeGripper(RobotAgent robot_agent, object[] args) { int ret = robot_agent.HomeGripper(); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus WaitGripper(RobotAgent robot_agent, object[] args) { int ret = robot_agent.WaitGripperBusy((int)args[0], WAIT_TIMEOUT); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus Grip(RobotAgent robot_agent, object[] args) { int ret = robot_agent.MoveGripper(Convert.ToUInt16(args[0]), Convert.ToUInt16(args[1])); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus SetPos(RobotAgent robot_agent, object[] args) { Pos_T target = new Pos_T(); target.pos = (double[])args[0]; int ret = robot_agent.SetHomePos(target); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus PcsPTP(RobotAgent robot_agent, object[] args) { Pos_T dest = new Pos_T(); dest.pos = (double[])args[0]; int ret = robot_agent.PcsPTP(dest); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus Home(RobotAgent robot_agent, object[] args) { if ((int)args[0] < 0 || 5 < (int)args[0]) { throw new System.ArgumentOutOfRangeException("AxisId out of range!!", "AxisId(args[0])"); } int ret = robot_agent.HomeRobot((int)args[0]); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus AcsJog(RobotAgent robot_agent, object[] args) { if ((int)args[0] < 0 || 5 < (int)args[0]) { throw new System.ArgumentOutOfRangeException("AxisId out of range!!", "AxisId(args[0])"); } if ((int)args[1] != 0 && (int)args[1] != 1) { throw new System.NotSupportedException("Not supported direction!!: Dir(args[1])"); } if ((int)args[2] < 0 || 2000 < (int)args[2]) { throw new System.ArgumentOutOfRangeException("Interval out of range!!", "Interval(args[2])"); } int ret = robot_agent.AcsJog((int)args[0], (int)args[1], (int)args[2], MAX_VEL); RobotStatus robot_status = robot_agent.GetStatus(); robot_status.ret_code = ret; return(robot_status); }
static private RobotStatus GetStatus(RobotAgent robot_agent, object args) { return(robot_agent.GetStatus()); }