Staubli SDKStäubli 로봇을 자체 소프트웨어에서 제어

Frame intermediate = controller.Soap.ForwardKinematics(robot: 0, joints).Position;
intermediate.Py += 0.05;
controller.Soap.SetPower(true);

// Joint move to joint values, in radians
IMoveResult result = controller.Soap.MoveJJ(robot: 0, joints, mdesc);

// Joint move to a Cartesian frame
result = controller.Soap.MoveJC(robot: 0, target, mdesc);

// Straight line to a Cartesian frame
result = controller.Soap.MoveL(robot: 0, target, mdesc);

// Circle through an intermediate frame, to a target frame
result = controller.Soap.MoveC(robot: 0, intermediate, target, mdesc);

// The controller accepted the move, or tells why not
if (result.ReturnCode != MotionReturnCode.Success)
    Console.WriteLine($"Move {result.Id} refused: {result.ReturnCode}");
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Path of the project on the disk of the controller
string project = "Disk://myProject/myProject.pjx";

// Load the application in memory, without starting it
controller.Soap.LoadProject(project);

// Start it
controller.Soap.StartApplication(project);
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect(parameters);
// The application must not be in memory while its files are replaced
controller.Soap.StopAndUnloadAll();

// Copies C:\MyApps\myApp and its sub-folders to /usr/usrapp/myApp on the controller
string remoteFolder = controller.File.UploadApplicationToController(@"C:\MyApps\myApp",
    progress => Console.WriteLine($"{progress:0}%"));

// /usr/usrapp/myApp/myApp.pjx is Disk://myApp/myApp.pjx for the SOAP methods
controller.Soap.LoadProject("Disk://myApp/myApp.pjx");
controller.Soap.StartApplication("Disk://myApp/myApp.pjx");
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Joint values in radians, here the current ones
double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);

// The controller computes the flange frame for these joints
IForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, joints);

// Position of the frame origin, and its orientation as a rotation matrix
Frame frame = fk.Position;
Console.WriteLine($"P = [{frame.Px}, {frame.Py}, {frame.Pz}]");

// Configuration of the arm for this position (shoulder, elbow, wrist)
Config config = fk.Config;
Console.WriteLine(config);
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// The robots driven by the controller. The index in this array
// is the robot number that the other methods take.
Robot[] robots = controller.Soap.GetRobots();

for (int i = 0; i < robots.Length; i++)
{
    Robot robot = robots[i];
    Console.WriteLine($"Robot {i}: {robot.Arm}"); // for example TX2-60
    Console.WriteLine($"  Kinematic: {robot.Kinematic}"); // Anthropomorph6, Scara...
    Console.WriteLine($"  Mount type: {robot.MountType}"); // Floor, Ceiling, Wall
    Console.WriteLine($"  Tuning: {robot.Tuning}");
}
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Names as returned by GetAllPhysicalIos
string[] names = { @"BasicIO-1\%I0", @"BasicIO-1\%Q0" };

// One state per name, in the same order
PhysicalIoState[] states = controller.Soap.ReadIos(names);

for (int i = 0; i < names.Length; i++)
{
    PhysicalIoState state = states[i];

    // State tells if the name exists on this controller
    if (state.State != PhysicalIoEnumState.Defined)
    {
        Console.WriteLine($"{names[i]}: {state.State}");
        continue;
    }

    Console.WriteLine($"{names[i]} = {state.Value} locked={state.Locked} simulated={state.Simulated}");
}
controller.Disconnect();
}