91黄动漫 I 欧美 日韩 国产 成人 在线 I a级成人毛片 I 农村黄色片 I 男生捅女生的肌肌 I 精品99一区二区三区 I 妃光莉av I 日日夜夜操操 I 性中国古装videossex I 久久不卡av I 美女高潮动态图 I 极品美女开粉嫩精品 I 牛牛精品一区二区 I 91精品福利视频 I 成人刺激视频 I 91国内精品视频 I 中国一级特黄毛片大片 I 校长狠狠挺进校花体内小说 I 欧美激情黄色片 I 欧美久久久一区 I 爱豆国产剧免费观看大全剧苏畅 I 麻豆国产人妻欲求不满谁演的 I 亚洲一区二区在线免费观看视频 I 国产超碰av人人做人人爽 I 精品国产第一国产综合精品 I 久久免费看av I 欧美一区二区三区白人 I 国产精品夫妻激情 I 校花被肉干高h潮不断 I 欧美最猛黑人xxxx黑人表情 I 国产欧美日韩一区二区搜索 I 极品女神露脸呻吟啪啪 I 人人天天久久 I 亚洲动漫在线 I 日本91福利区 I 五月天 桃色 开心 I av在线免费观看国产 I 男人添女人的免费视频 I 夜夜穞天天穞狠狠穞

fkeickl
搞電的沒前途
級別: 略有小成
精華主題: 0
發帖數量: 86 個
工控威望: 221 點
下載積分: 2003 分
在線時間: 122(小時)
注冊時間: 2010-12-14
最后登錄: 2026-01-18
查看fkeickl的 主題 / 回貼
樓主  發表于: 2021-10-22 13:27
MODULE MainModule
    VAR socketdev socket_client;
    VAR robtarget zhuaqudian{4, 6} := [
        [[[304.27,-308.43,388.88],[0.00605288,-0.921946,0.386945,-0.0159119],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[302.63,-500.33,388.88],[0.00611035,-0.921938,0.386966,-0.0158309],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[301.71,-691.96,388.88],[0.00627679,-0.921946,0.386953,-0.0156304],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[103.85,-307.68,388.88],[0.00626996,-0.921947,0.386949,-0.0156282],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[105.97,-499.35,388.88],[0.006271,-0.921942,0.386961,-0.0156303],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[103.92,-690.97,388.88],[0.00627827,-0.921947,0.386949,-0.0156317],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
    
        [[[-122.05,-310.89,388.88],[0.00645941,-0.921936,0.386973,-0.0156182],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-124.22,-502.28,388.88],[0.00648626,-0.921942,0.38696,-0.0156026],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
        [[-117.92,-694.13,388.88],[0.00646402,-0.921923,0.387005,-0.0155904],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-316.41,-307.47,388.88],[0.00645302,-0.921949,0.386938,-0.0156957],[-2,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-319.25,-504.26,388.88],[0.00656645,-0.921893,0.387072,-0.0156806],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-314.56,-695.07,388.88],[0.00652637,-0.921896,0.387066,-0.0156755],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
    
        [[[300.57,694.78,388.88],[0.00621611,-0.921927,0.386999,-0.0155978],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[302.88,502.19,388.88],[0.00621539,-0.921926,0.387003,-0.0155974],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[301.33,309.79,388.88],[0.00621415,-0.921925,0.387004,-0.0156002],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[107.10,694.54,388.88],[0.0062171,-0.921926,0.387002,-0.0155948],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[105.49,503.12,388.88],[0.00621575,-0.921925,0.387004,-0.0155983],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
      [[106.00,311.19,388.88],[0.00621052,-0.92192,0.387017,-0.0156025],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
        
        [[[-122.27,693.85,388.88],[0.00620335,-0.921927,0.386999,-0.0156261],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-122.85,502.21,388.88],[0.00621437,-0.921928,0.386997,-0.0156302],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-125.59,309.09,388.88],[0.00622092,-0.921929,0.386993,-0.0156214],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-320.87,694.16,388.88],[0.0062127,-0.921927,0.386998,-0.0156269],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-320.92,503.94,388.88],[0.00621883,-0.921923,0.387007,-0.0156311],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
        [[-323.41,311.32,388.88],[0.00621518,-0.921925,0.387003,-0.015623],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
        ];
        
      
    
      

    VAR robtarget yuandian := [[584.30,98.67,388.88],[0.000927732,0.9636,-0.267343,0.00115184],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR robtarget touliao :=  [[595.42,114.45,115.41],[8.54151E-05,0.951234,-0.308469,-6.39389E-05],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR robtarget newguodudian := [[111.88,-309.89,388.88],[0.000206237,2.54575E-05,-1,-0.000101683],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    

    PROC main()
        VAR bool retval;
        SocketClose socket_client;
        SocketCreate socket_client;
        SocketConnect socket_client, "192.168.100.61", 8088;
        
        WHILE TRUE DO
            WaitDI DI02,0;
            Reset DO00;    
            Reset DO01;    
            Reset DO02;
            Reset DO03;
            Reset DO04;
            IF DI00=0 AND DI01= 0 THEN
                gotoAreaRobotPos 1, retval;
            ELSEIF DI00 = 1 AND DI01= 0 THEN
                gotoAreaRobotPos 2, retval;
            ELSEIF DI00 = 0 AND DI01= 1 THEN
                gotoAreaRobotPos 3, retval;
            ELSEIF DI00 = 1 AND DI01= 1 THEN
                gotoAreaRobotPos 4, retval;
            ENDIF
            
            IF(not retval) THEN
               WHILE DI04=0 DO
                    WaitDI DI04, 1;
                    WaitTime 0.05;
               ENDWHILE
            
            ENDIF
            
        ENDWHILE
      
    ENDPROC

    PROC jiexiweizhi(string sp, num index, inout robtarget data{*}, inout bool isError, inout bool isLastLayer)        
        VAR num count := 1;
        VAR num pos_count := 1;
        VAR bool is_sucess := TRUE;
        VAR num para{7}:=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0];
        VAR string inputstr;
        VAR num found;
        
        VAR string split_string := "";
        VAR num split_index;
        
        VAR string remain_string := "";
        VAR bool isRecvComplete := FALSE;
        VAR bool isParseComplete := FALSE;
        
        isError := FALSE;
        isLastLayer := FALSE;
        
        WHILE not isRecvComplete DO
            SocketReceive socket_client, \Str:=inputstr, \Time:=WAIT_MAX;
            
            found := StrMatch(inputstr, 1, ";");
            
            IF found <= StrLen(inputstr) THEN
                isRecvComplete := TRUE;
                inputstr := StrPart(inputstr, 1, found - 1);
            ENDIF
            
            split_index := 1;
            split_string := "";
            isParseComplete := FALSE;
            
            WHILE not isParseComplete DO
                found := StrMatch(inputstr, split_index, sp);
                
                IF found <= StrLen(inputstr) THEN
                    
                    IF strLen(remain_string) > 0 THEN
                        split_string := remain_string + StrPart(inputstr, split_index, found - split_index);
                        remain_string := "";
                    ELSE
                        split_string := StrPart(inputstr, split_index, found - split_index);
                    ENDIF                
                
                    is_sucess := strtoval(split_string, para{count});
                    IF is_sucess THEN
                        Incr count;
                    ENDIF      
                    
                    IF count = 8 THEN
                        parsePos para, data{pos_count};
                        Incr pos_count;
                        count := 1;
                    ENDIF
                    split_index := found + 1;
                    
                ELSE
                    isParseComplete := TRUE;
                    remain_string := StrPart(inputstr, split_index, StrLen(inputstr) - split_index + 1);
                ENDIF
            
            ENDWHILE
                        
        ENDWHILE
        
        found := StrMatch(remain_string, 1, "error");  
        IF found <= StrLen(remain_string) THEN
            isError := TRUE;
        ENDIF
        
        found := StrMatch(remain_string, 1, "yes");
        IF found <= StrLen(remain_string) THEN
            isLastLayer := TRUE;
        ENDIF
        
    ENDPROC
    
    PROC parsePos(num data{*}, inout robtarget robpos)
        robpos.trans.x := data{1};
        robpos.trans.y := data{2};
        robpos.trans.z := data{3};
        robpos.rot.q1 := data{4};
        robpos.rot.q2 := data{5};
        robpos.rot.q3 := data{6};
        robpos.rot.q4 := data{7};
    ENDPROC
    
    PROC gotoAreaRobotPos(num index, inout bool retVal)
        VAR robtarget new_position{6};
        VAR string inputstr;
        VAR num found;
        VAR bool flag2 := TRUE;
        VAR bool isError;
        VAR bool isLastLayer;
        
        retval := TRUE;





程序如上，其中
PROC main()
        VAR bool retval;
        SocketClose socket_client;
        SocketCreate socket_client;
        SocketConnect socket_client, "192.168.100.61", 8088;
不知道什么意思
有壓力就有動力
gi_robot
級別: 正式會員
精華主題: 0
發帖數量: 34 個
工控威望: 87 點
下載積分: 532 分
在線時間: 6(小時)
注冊時間: 2022-08-09
最后登錄: 2024-11-23
查看gi_robot的 主題 / 回貼
1樓  發表于: 2022-08-11 09:51
自己挖自己

主站蜘蛛池模板： 艹b视频在线观看 | 超碰在线cao | 久久精品国产福利国产秒拍 | 国产精品国产三级国产剧情 | 激情综合网五月婷婷 | 国产精品揄拍一区二区久久国内亚洲精 | 久久精品www人人爽人人 | 久久夜色噜噜噜av一区二区 | 中文字幕无码一区二区免费 | 国产精品久久自在自线不 | 欧美wwwwww | 亚洲国产精品嫩草影院 | 久久天天躁狠狠躁夜夜婷 | 国产精品天干天干在线综合 | www射| 91久久精品一区二区 | 免费久久一级欧美特大黄 | 男女做爰猛烈吃奶啪啪喷水网站 | 日本久久网站 | 成人午夜高潮免费视频在线观看 | 国产精品免费久久久久软件 | 青青草国产免费久久久 | 91视频入口 | 国产精品青青在线麻豆 | 亚洲精品自产拍在线观看动漫 | 91视频观看| 欧美成人aaa片一区国产精品 | 亚洲免费网站 | 国产精品极品在线视频 | 在线 日本 制服 中文 欧美 | 日韩欧美123 | 亚洲国产精品美女 | 中文字幕中出 | 小说区 图片区色 综合区 | 日韩精品91| 国产精品久久久久7777按摩 | 国产偷久久久精品专区 | 一本久久伊人热热精品中文 | 深爱激情站 | 91久久久精品国产一区二区蜜臀 | 黑人粗硬进入过程视频 | 精品国产成人网站一区在线 | 国产秒拍福利 | 国产亚洲精品女人久久久久久 | 亚洲区另类春色综合小说 | 中文字幕2页 | 少妇性l交大片免费观看 | 日韩精品一区国产偷窥在线 | 成·人免费午夜无码不卡 | 久久亚洲精品在线观看 | 国产乱码精品一区二区三区爽爽爽 | 一二三四区无产乱码1000集 | 亚洲激情视频在线播放 | 亚洲中文字幕日产无码 | 免费无码黄真人影片在线 | 亚洲欧美综合区丁香五月小说 | 少妇特黄a一区二区三区 | 一区二区三区精 | 日本护士吞精囗交gif | 三级黄色片免费 | 成人啪啪18免费游戏链接 | 青青草手机视频 | 高h猛烈失禁潮喷无码视频 亚洲一在线 | 天堂视频一区 | 丰满多毛少妇做爰视频爽爽和 | 国产又粗又猛又黄视频 | 久久精品大片 | 99精品国产自在现线10页 | 精品久久久久久无码专区不卡 | 亚洲26p| 东北农村乱淫视频 | 无遮挡18禁啪啪免费观看 | 国产成人av性色在线影院色戒 | 无码国产精品久久一区免费 | 欧美片一区二区 | 七七婷婷婷婷精品国产 | 亚洲精品1区2区3区 中文字幕视频免费 | 怡红院av久久久久久久 | 欧美一区二区三区免费在线观看 | 天天插日日插 | 亚洲а∨天堂久久精品喷水 | 国产美女无遮挡免费视频 | 亚洲成色在线综合网站免费 | 自拍偷区亚洲网友综合图片 | 成人一级视频在线观看 | 免费黄色网址在线 | 亚洲少妇激情 | 国产成人精品一区二区秒播 | 色狗网站 | 男女互操视频 | 色偷偷亚洲女人的天堂 | 午夜欧美一区二区 | 午夜精品久久18免费观看 | 久久久久国产精品人妻aⅴ果冻 | 艳妇乳肉亭妇荡乳av | 欧美日韩国产欧美 | 色婷婷av一区二区 | 久久亚洲精品无码观看不 | 国产片av片永久免费观看 |