mainUpdate.prg
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Global String A$, B$, C$, D$, E$, F$, H$, G$
Global Integer a, b
Function main
Off 1 '端口关闭信号
If Motor = Off Then Motor On
Power High
Speed 80
Accel 80, 80
Call tcppip
Call running
Fend
Function tcppip
SetNet #201, "192.168.0.1", 2000, CRLF, NONE, 0 '默认设置
OpenNet #201 As Server
On 1 '端口打开信号
WaitNet #201
Print #201, "连接成功"
Fend
Function running
OnErr GoTo Errhandler
ReceiveData:
Do
OnErr GoTo Errhandler
Input #201, F$, A$, B$, C$, D$, E$, H$, G$
Print F$, ",", A$, ",", B$, ",", C$, ",", D$, ",", E$, ",", H$, ",", G$
' Print #201, F$, ",", A$, ",", B$, ",", C$, ",", D$, ",", E$
If F$ = "move" Then
OnErr GoTo Errhandler
If E$ = "h" Then
Power High
Print Power
Speed 30, 10, 5
Accel 30, 30
' Print #201, "High speed"
ElseIf E$ = "l" Then
Power Low
Print Power
Speed 40
Accel 10, 10
' Print #201, "Low speed"
EndIf
If H$ = "r" Then
' If Hand(Here) = 2 Then '1是R,2是L
' Jump P13 LimZ (0) '左手臂切右手臂中间过渡点
' Jump P4 LimZ (0) '换手臂姿势点
' Jump P4 /R LimZ (0) '换手臂完成
' Jump P6 LimZ (0) '右盘中心安全位
' EndIf
Jump XY(Val(A$), Val(B$), Val(C$), Val(D$)) /R LimZ Val(G$)
ElseIf H$ = "l" Then
' If Hand(Here) = 1 Then '1是R,2是L
' Jump P12 LimZ (0) '右手臂切左手臂中间过渡点
' Jump P2 LimZ (0) '换手臂姿势点
' Jump P2 /L LimZ (0) '换手臂完成
' Jump P5 LimZ (0) '左盘中心安全位
' EndIf
Jump XY(Val(A$), Val(B$), Val(C$), Val(D$)) /L LimZ Val(G$)
ElseIf H$ = "0" Then
Jump XY(Val(A$), Val(B$), Val(C$), Val(D$)) LimZ Val(G$)
EndIf
' Jump XY(Val(A$), Val(B$), Val(C$), Val(D$))
Print #201, "point ok"
EndIf
If F$ = "free" Then
OnErr GoTo Errhandler
SFree 1, 2, 3, 4
EndIf
If F$ = "save" Then
OnErr GoTo Errhandler
Print #201, CX(Here), ",", CY(Here), ",", CZ(Here), ",", CU(Here), ",", Hand
EndIf
If F$ = "lock" Then
OnErr GoTo Errhandler
SLock 1, 2, 3, 4
Print #201, "ok"
EndIf
Loop
ErrHandler:
Wait ErrorOn
Print #201, "ERR:", Err
EResume ReceiveData
Fend