public void InitIOForRobot(uint offset, int group_id)
{
if (robots.Count < 1)
{
Console.WriteLine("No such group to be assign to!");
return;
}
if (offset > SystemConfig.NEXCOMROBOT_MAX_IO)
{
Console.WriteLine("Exceed pre-defined io range!");
return;
}
NexMotion_IOAdapter tmp_IOAdapter = new NexMotion_IOAdapter(mRobot.DeviceID);
GripperController tmp_gripper_ctl = new GripperController(tmp_IOAdapter, offset, offset);
robots[group_id].SetGripper(tmp_gripper_ctl);
}
public void SetGripper(GripperController gripper_ctl)
{
this.gripper_ctl = gripper_ctl;
}
