EGM

#include "HYYRobotInterface.h"
int MainModule()
{
    //启动egm功能
    move_start();
    robpose rpose;
    getrobpose("p20", &rpose);
    speed sp;
    getspeed("v1",&sp);
    zone ze;
        getzone("z1",&ze);
    tool to;
    gettool("tool0",&to);
    wobj wo;
    getwobj("wobj0",&wo);

    moveL(&rpose,&sp,&ze,&to,&wo);

        EGMCreate_c("egmtest", 0, 0, 1, 4, &to, &wo);
    EGMRunJoint_c("egmtest", 1);
    printf("egm release\n");
    EGMRelease_c("egmtest");
printf("end\n");

    move_stop();
    return 0;
}

时间	作者
20201010	于剑楠