91美女视频-亚洲免费观看视频-欧美a∨-久热在线视频-日韩黄网站-成av人片在线观看www-久操综合-超碰av在线播放-性欧美欧美巨大69-婷婷二区-av男人的天堂网-中文字幕一区在线播放-玖草在线观看-国产网址在线观看-免费在线不卡av

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: 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
金信集團2022
級別: 網絡英雄
精華主題: 0
發帖數量: 1701 個
工控威望: 5003 點
下載積分: 11263 分
在線時間: 133(小時)
注冊時間: 2022-09-13
最后登錄: 2025-10-21
查看金信集團2022的 主題 / 回貼
1樓  發表于: 2023-01-06 08:05
謝謝分享

主站蜘蛛池模板： 国产精品蜜臀 | 成人在线视频免费 | 中文字幕在线看片 | 久久久精品麻豆 | 亚洲精品久久一区二区三区777 | 就去干成人网 | 羞羞答答一区 | 色一情一乱一区二区三区 | 人妻少妇精品一区二区 | 日韩精品一区二区三区四区五区 | 亚洲午夜久久久久久久久久久 | 在线中文视频 | 欧美破处大片 | 98国产精品 | 极品白嫩丰满少妇无套 | 亚洲国产精品综合 | 国内成人自拍视频 | 中文字幕在线资源 | 欧美日韩久久久 | 婷婷午夜 | 亚洲国产精品久久久 | 婷婷五月小说 | 一区二区成人免费视频 | 一区二区三区在线电影 | 深爱综合网 | 日韩电影一二三区 | 伊人精品久久 | 免费看一级视频 | 欧美粗暴jizz性欧美20 | 97在线视频人妻无码 | 成人午夜小视频 | 免费一级肉体全黄毛片 | 永久免费看黄网站 | 国产视频欧美 | 老牛影视av牛牛影视av | 国产精品自拍在线观看 | 日韩有码一区二区三区 | 国产视频一区二区三区在线观看 | 免费在线观看a视频 | 99久久人妻无码精品系列 | 激情综合网五月激情 | 成年人视频在线免费看 | 奇米第四色首页 | 欧美,日韩,国产精品免费观看 | 99在线观看免费 | 精品中文视频 | 高清二区 | 成人毛片视频免费看 | 成年人黄色免费视频 | 99re最新网址| 激情欧美一区二区 | 免费网站看av | 另类少妇人与禽zozz0性伦 | 蜜臀久久99精品久久久画质超高清 | 亚洲美女在线视频 | 国产一级啪啪 | 日本xx视频 | 日本在线观看中文字幕 | 久久日韩精品 | 天堂网中文 | 天天综合网久久综合网 | 老司机午夜免费福利 | 热久久久久久久 | 国产精品12区 | 影音先锋在线看片资源 | 少女视频的播放方法 | 国产一级做a爰片久久毛片男 | 日本乱子伦 | 国产91免费观看 | 天天躁夜夜躁狠狠是什么心态 | 久久久xxx| 久久99热这里只频精品6学生 | 九九热综合 | 日本少妇bbwbbw精品 | 伊人网在线免费观看 | 国产三级在线免费观看 | 国产精品美女一区 | 毛片国产 | 乌克兰黄色片 | h片网站在线观看 | 国产aaaaaa| 人人草在线观看 | 台湾佬在线 | 亚洲少妇一区 | 国产欧美精品在线观看 | 亚洲男人网| av在线亚洲天堂 | 老妇女av | 久操视频在线播放 | 欧美日韩一区二区三区在线电影 | 在线第一页| 香蕉免费在线视频 | 国产精品视频一 | av动漫在线免费观看 | 日韩一区二区三 | 男女啪啪国产 | 花房姑娘免费全集 | 国产二区一区 | 精品少妇一区二区三区免费观看 |