2-5工控数据转化成果

MODULE Module1 PERS robtarget p10:=[[400,0,594],[0.353554,0.612372,0.612372,-0.353554],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; VAR string received_string; VAR num vision_data{3}:=[0,0,0]; !*********************************************************** ! ! Module: Module1 ! ! Description: ! <Insert description here> ! ! Author: Administrator ! ! Version: 1.0 ! !*********************************************************** !*********************************************************** ! ! Procedure main ! ! This is the entry point of your program ! !*********************************************************** PROC main() !Add your code here VAR socketdev client_socket; VAR num found; VAR num default_val; VAR num start; VAR bool sTOn_True; VAR num angelx1:=0; VAR num angely1:=0; VAR num angelz1:=0; SocketClose client_socket; ! ??????? SocketCreate client_socket; ! ?????ip,??8080 SocketConnect client_socket,"127.0.0.1",3456; TPWrite "socket client connect successful"; ! ???????????"I'm Robot" SocketSend client_socket\Str:="I'm Robot"; ! ????????????,???????? SocketReceive client_socket\Str:=received_string; ! ????? start:=0; default_val:=1; ! ??for??,?????deltaX,deltaY,?thetaZ? FOR i FROM 1 TO 3 DO start:=found+1; ! ??StrFind???????,???????????? found:=StrFind(received_string,start,","); ! StrPart??,???????????,start?????? default_val:=found-start; ! strtoval???????????num??,??????????vision_data? sTOn_True:=strtoval(StrPart(received_string,start,default_val),vision_data{i}); ! ???????? IF sTOn_True THEN TPWrite ""\Num:=vision_data{i}; ELSE TPWrite "vision_data error!"; ENDIF ENDFOR ! ????????,????????? ! p10:=Ppick_base; p10.trans.x := vision_data{1}; p10.trans.y := vision_data{2}; angelx1:=EulerZYX(\X, p10.rot); angely1:=EulerZYX(\Y, p10.rot); !angelz1:=EulerZYX(\Z, p10.rot); angelz1:=vision_data{3}; p10.rot := OrientZYX(angelz1, angely1, angelx1); MoveJ p10,v1000,z1,tool0\WObj:=wobj0; ENDPROC ENDMODULE