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@rnsk
Created February 16, 2016 05:19
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Sota マニュアル
package jp.vstone.sotasample;
import jp.vstone.RobotLib.CRobotMem;
import jp.vstone.RobotLib.CRobotPose;
import jp.vstone.RobotLib.CRobotUtil;
import jp.vstone.RobotLib.CSotaMotion;
public class MotorTest {
public static void main(String args[]){
CRobotPose pose = new CRobotPose();
//VSMDと通信ソケット・メモリアクセス用クラス
CRobotMem mem = new CRobotMem();
//Sota用モーション制御クラス
CSotaMotion motion = new CSotaMotion(mem);
if(mem.Connect()){
//VSMDを初期化
motion.InitRobot_Sota();
//サーボモータを現在位置でトルクOnにする
motion.ServoOn();
//首ピッチ軸を動作
pose.SetPose(new Byte[] {8} //ID8
, new Short[] {0} //0度
);
motion.play(pose,1000);
motion.waitEndinterpAll();
CRobotUtil.wait(2000);
pose.SetPose(new Byte[] {8} //ID8
, new Short[] {-200} //-20度
);
motion.play(pose,500);
motion.waitEndinterpAll();
CRobotUtil.wait(500);
pose.SetPose(new Byte[] {8} //ID8
, new Short[] {0} //0度
);
motion.play(pose,1000);
motion.waitEndinterpAll();
CRobotUtil.wait(2000);
//サーボモータのトルクオフ
motion.ServoOff();
}
}
}
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