task main(){
nMotorEncoder[UP] = 0;
nMotorEncoder[RND] = 0;
AbsMove(230,100);
for(int i=0; i <= 5; ++i){
AbsMove(500,180);
AbsMove(230,180);
}
AbsMove(500,180);
AbsMove(0,0);
}
task main(){
// checkBTLinkConnected();
nMotorEncoder[UP] = 0;
nMotorEncoder[RND] = 0;
//StartTask(get);
while(true){
nxtDisplayTextLine(3,"RUP = %d",500);
nxtDisplayTextLine(4,"RRND = %d",500);
nxtDisplayTextLine(5,"RRND = %d",500);
AbsMove(2000, 2000, 500);
AbsMove(0, 0, 0);
// motor[UP] = 100;
// motor{RND] = 100;
}
}
//---------------------------------------------------------------------------
bool PCIM114GL::IsLastPosDone(int nAxis)
{
double dPos=m_dLastTargetPos[nAxis];
double dP=GetFeedbackPos(nAxis);
if(dP>dPos-0.1 && dP<dPos+0.1) return true;
else if(GetAxisStatus(nAxis,Axis_Const::INP)) AbsMove(nAxis,dPos);
else return false;
return false;
}
task main() {
checkBTLinkConnected();
nMotorEncoder[UP] = 0;
nMotorEncoder[RND] = 0;
StartTask(get);
while(true) {
fRec[0] = (Rec[0]-8)*40;
fRec[1] = (Rec[1]-8)*40;
nxtDisplayTextLine(3,"RUP = %d",fRec[0]);
nxtDisplayTextLine(4,"RRND = %d",fRec[1]);
AbsMove(fRec[0], fRec[1]);
}
}
LRESULT KItemNull::WndProc(UINT uMsg, WPARAM wParam, LPARAM lParam)
{
float const fX = (float)(GET_X_LPARAM(lParam));
float const fY = (float)(GET_Y_LPARAM(lParam));
switch (uMsg)
{
case WM_LBUTTONDOWN:
if (PtInItem(fX, fY))
{
if (KDebugConfig::ms_aBoolFlag[KDebugConfig::BOOL_SELECT_WINDOW_IN_CLIENT])
g_pUI->m_EditorMgr.UIEditorOperation(PLUGIN_UI_EDITOR_SEL_WND, (WPARAM)m_szItemName, 0);
if (KDebugConfig::ms_aBoolFlag[KDebugConfig::BOOL_RESIZE_WND_AND_ITEM_MODE] &&
(fX > m_fAbsX + m_fWidth - 2 * KDebugConfig::ms_nResizeWindowHandleNodeHalfSize) &&
(fY > m_fAbsY + m_fHeight - 2 * KDebugConfig::ms_nResizeWindowHandleNodeHalfSize))
{
KItemEditModeMgr::GetSelf().SetEditMode(EDIT_RESIZE_MODE);
}
else
{
KItemEditModeMgr::GetSelf().SetEditMode(EDIT_DRAG_MODE);
}
KItemEditModeMgr::GetSelf().SetCurrentEditItem(this);
KItemEditModeMgr::GetSelf().SetDragStartPos(fX, fY);
return TRUE;
}
break;
case WM_MOUSEMOVE:
if (wParam & MK_LBUTTON)
{
float fLastX;
float fLastY;
KItemEditModeMgr::GetSelf().GetFragStartPos(fLastX, fLastY);
if (KItemEditModeMgr::GetSelf().GetEditMode() == EDIT_DRAG_MODE)
AbsMove(fX - fLastX, fY - fLastY);
else if (KItemEditModeMgr::GetSelf().GetEditMode() == EDIT_RESIZE_MODE)
{
float fWidth = m_fWidth + (fX - fLastX);
float fHeight = m_fHeight + (fY - fLastY);
if (fWidth < 0.0f)
fWidth = 0.0f;
if (fHeight < 0.0f)
fHeight = 0.0f;
SetSize(fWidth, fHeight);
}
KItemEditModeMgr::GetSelf().SetDragStartPos(fX, fY);
return TRUE;
}
else if (PtInItem(fX, fY))
{
static char szInfo[MAX_PATH] = { 0 };
_snprintf(szInfo, _countof(szInfo), "名字: %s\n x=%d, y=%d, w=%d, h=%d\n", m_szItemName,
(int)m_fRelX, (int)m_fRelY, (int)m_fWidth, (int)m_fHeight);
g_pUI->m_EditorMgr.UIEditorOperation(PLUGIN_UI_EDITOR_SHOW_INFO, (WPARAM)szInfo, 0);
return TRUE;
}
break;
}
return FALSE;
}
task main()
{
// Setup
string sFriendlyName;
IAmNXT = 2;
MaxNXT = 3;
setupHighSpeedLink();
//
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line displayHSpeedRxData[1]
int delta = 2; // Create int 'delta' to the be Servo Change Rate.
servoChangeRate[servo1] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo2] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo3] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo4] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo5] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
while(true)
{
while( HSpeedRxDataLen == 0 ) wait1Msec(10);
if(HSpeedRxData[0] == 1){
AbsMove(2000,2000, 360);
if(ServoValue[servo1] >= 191) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo1] > 125) // While the ServoValue of servo1 is greater than 0:
{
servo[servo1] = 125; // Move servo1 to position to 0.
}
}
if(ServoValue[servo2] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo2] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo2] = 110; // Move servo1 to position to 255.
}
}
if(ServoValue[servo3] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo3] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo3] = 110; // Move servo1 to position to 255.
}
}
if(ServoValue[servo4] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo4] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo4] = 110; // Move servo1 to position to 255.
}
}
if(ServoValue[servo5] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo5] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo5] = 110; // Move servo1 to position to 255.
}
}
}
if(HSpeedRxData[0] == 2){
if(ServoValue[servo1] < 191) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo1] < 255) // While the ServoValue of servo1 is less than 255:
{
servo[servo1] = 255; // Move servo1 to position to 255.
}
}
if(ServoValue[servo2] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo2] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo2] = 0; // Move servo1 to position to 0.
}
}
if(ServoValue[servo3] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo3] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo3] = 0; // Move servo1 to position to 0.
}
}
if(ServoValue[servo4] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo4] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo4] = 0; // Move servo1 to position to 0.
}
}
if(ServoValue[servo5] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo5] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo5] = 0; // Move servo1 to position to 0.
}
}
AbsMove(0,0, 0);
}
if(HSpeedRxData[0] == 3){
AbsMove(0,0, 0);
}
}
}
