int stop_galildmc()
{
g.command("v1=0;v2=0;v3=0;v4=0");
g.command("OF 0,0,0,0");
g.command("ST");
g.command("XQ#STOP");
printf("stop galildmc\n");
return RTN_OK;
}
int axis_multi_jog_cmd(unsigned int mark, double* vel)
{
char str[256], st[64];
int i, n=0;
str[0] = 0;
for (i = 0; i < 4; i++) {
if (mark & (1<<i)) {
sprintf(st, "v%d=%.02f;", i+1, vel[i]);
n += sprintf(&str[n], "%s", st);
}
}
if (n == 0) {
printf("axis_jog_cmd : the axis number error \n");
return RTN_ERROR;
}
str[n]=0;
if (memcmp(ostr, str, n) != 0){
printf("axis_jog_cmd : %s\n", str);
strcpy(ostr, str);
}
g.command(str);
return RTN_OK;
}
int start_galildmc()
{
g.programDownloadFile("./nasal_robot.dmc");
g.command("XQ#BEGIN");
printf("start gailidmc\n");
return RTN_OK;
}
