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; }