读取机器人关机位置，用MATLAB换算成关节速度数据

最新推荐文章于 2021-03-24 06:10:27 发布

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最新推荐文章于 2021-03-24 06:10:27 发布

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本文链接：https://blog.csdn.net/PINBODEXIAOZHU/article/details/42043281

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MODULE FUCK
!read pos value and time ,write to file.

 VAR intnum timeint;
 PERS jointtarget joint_pos_value; 
 VAR  num  pos_value;
 VAR iodev pos_joint_file;
 VAR iodev pos_time_file;
 VAR clock pos_clock;
 VAR num pos_time:=0;
 
 PROC cycle_catch_init()
  Open "HOME:" \File:= "posdata.txt", pos_joint_file \Write;
  Open "HOME:" \File:= "timedata.txt", pos_time_file \Write; 
  ClkReset pos_clock;
  ClkStart pos_clock; 
  CONNECT timeint WITH gwrite_pos_and_time_data;
  ITimer 0.1, timeint;
 ENDPROC
 
 PROC cycle_catch_stop()
  IDelete timeint;
  ClkReset pos_clock;
  Close pos_joint_file;  
  Close pos_time_file;
 ENDPROC
 
 TRAP gwrite_pos_and_time_data 
   joint_pos_value:= CJointT(\TaskName:="INTERCH");
   pos_time := ClkRead(pos_clock);
   pos_value:=Abs(joint_pos_value.extax.eax_a); 
   Write pos_joint_file, ""\Num:=pos_value;
   Write pos_time_file, ""\Num:=pos_time;
 ENDTRAP
 
ENDMODULE