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: 1815 分
在線時間: 122(小時)
注冊時間: 2010-12-14
最后登錄: 2025-11-08
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
amwjetu
級別: 正式會員
精華主題: 0
發帖數量: 34 個
工控威望: 89 點
下載積分: 537 分
在線時間: 15(小時)
注冊時間: 2022-08-19
最后登錄: 2025-12-05
查看amwjetu的 主題 / 回貼
1樓  發表于: 2022-08-24 12:35

主站蜘蛛池模板： 国产在线欧美在线 | 大肉大捧一进一出好爽视频 | 色噜噜狠狠色综合中国 | 日韩美女在线观看一区 | 2021在线不卡国产麻豆 | 国产中文区字幕区2021 | 先锋影音一区二区三区 | 西西人体做爰大胆性自慰 | 亚洲色大成网站www 97在线免费公开视频 | 国产综合av一区二区三区无码 | 九色视频在线播放 | 欧美人与动牲交免费观看 | 92久久精品一区二区 | 人妻 偷拍 无码 中文字幕 | 偷拍60岁老妇bbbb | 成年女人看片永久免费视频 | 午夜伦4480yy妇女久久喷潮 | 国产成人亚洲综合精品 | 免费国产在线一区二区 | 激情婷婷综合 | 成在线人免费无码高潮喷水 | 国产精品久久久久久久久免费看 | 成人在线激情视频 | 一区二区三区高清视频3 | 日韩精品一二 | 国产主播av| 久久久久久免费免费精品软件 | 色男人网 | 久久成人18免费网站 | 国产成人精品999 | 色妞综合| 国产传媒精品1区2区3区 | 欧美a网站 | 加勒比高清av | 久久精品国产综合 | 琪琪电影午夜理论片八戒八戒 | 成人av无码国产在线一区 | 欧美一区二区三区久久 | 日本一级待黄大片 | 国产91欧美| 免费在线观看的av | 制服 丝袜 有码 无码 中文 | 日韩人妻无码一区二区三区 | 国产在线乱子伦一区二区 | 欧美影院成年免费版 | 久久婷婷五月综合色国产免费观看 | 少妇人妻偷人精品视频 | 亚洲va欧美va国产va综合 | 国产青青青 | 亚洲aaaaaa | 欧美日韩一区二区三区免费 | 亚洲综合一 | 国产欧美色一区二区三区 | 亚洲国产精品久久久久婷蜜芽 | 中文在线视频观看 | 日本一本二本三区免费 | 性视频网 | 巨茎爆乳无码性色福利 | 91高清免费 | 国产污污视频 | 99精品久久久久久久婷婷 | 国产乱淫a∨片免费视频牛牛 | 少妇bbw揉bbb欧美 | 久热这里 | 九色丨porny丨自拍入口 | 日韩欧美在线观看一区二区三区 | 91com在线观看 | 色网视频 | 天天操天天操天天操天天操天天操 | 亚洲国产免费 | 国产在线精品99一卡2卡 | 欧美国产日韩一区二区三区 | 欧美150p| 天堂网中文在线 | 亚洲高清国产拍精品青青草原 | 亚洲最大成人av在线天堂网 | 夜晚成人18禁区导航网站 | 亚洲色av影院久久无码 | 亚洲中文字幕永久在线全国 | 国产精品高潮呻吟久久av免费动漫 | 免费的黄色一级片 | 精品国产乱码91久久久久久网站 | 农村妇女精品一区二区 | 亚洲中文字幕一区精品自拍 | 先锋影音av资源站av | 91成熟丰满女人少妇 | 亚洲乱熟| 水蜜桃av无码 | 在线播放亚洲 | 亚洲天堂99 | 午夜色福利 | 中文字幕日本特黄aa毛片 | av秋霞| 无码超乳爆乳中文字幕 | 日本在线色 | 精品无码久久久久久尤物 | 欧美色欧美亚洲另类七区 | 免费无码又爽又刺激网站直播 | 国产如狼似虎富婆找强壮黑人 |