越疆机器人 TCP 通讯 12 点标定脚本程序

-- Version: Lua 5.4.4
-- 此线程为主线程，可调用任何指令
--必须先示教 P1 点位置，运行到 P5 点后手动暂停将当前位置保存到 P2
--P2 作为角度旋转标定基准位
--本程序用于越疆 Robot 和海康 Vision master 12 点标定
    VelL(20)             -- 设置线性速度  
    AccL(20)             -- 设置线性加速度  
    SpeedFactor(20)      -- 设置全局速度

    MovL(P1)---初始化位置

    x=50---X 赋值  
    y=50---Y 赋值  
    r=15---角度赋值
---------字符串分割----------  
    function string.split(str,delimiter)  
    if str==nil or str=='' or delimiter==nil then  
    return nil  
    end  
    local result = {}  
    for match in (str..delimiter):gmatch("(.-)"..delimiter) do  
    table.insert(result,match)  
    end  
    return result  
    end

------------------通讯连接---------------------

     
    ::Cab_PC::  
    err, socket = TCPCreate(isServer,ip,prot)
    (,err)  
    Wait()  
     err ~=    
    ()  
    Wait()  
     Cab_PC  
      
    err = TCPStart(socket,)
     err ~=    
    ()  
    TCPDestroy(socket)
    Wait()  
     Cab_PC  
      
    ()  
    


              
     DataArrayS={}  
    err,Recbuf=TCPRead(socket,,)   
     err==  Recbuf~=   
    DataArrayS=.split(Recbuf,)  
         
    Connect(,,)  
      
     DataArrayS  
      

       
     Str~=   
    err=TCPWrite(socket, Str)  
    (,err)  
     err==   
    ()  
      
    Connect(,,)          
    ()  
      
      
    



    Connect(,,)      
    ()  
    MovL(P1,{user=,tool=})  
    Wait()  
    currentPose_1=GetPose(,)  
    Wait()  
    (,currentPose_1)  
    Test1=....(currentPose_1.pose[])....(currentPose_1.pose[])....(currentPose_1.pose[])  
    SendData(socket,Test1)  
    Wait()


    RelMovLUser({,y,,,,})  
    Wait()  
    currentPose_2=GetPose(,)  
    Wait()  
    (,currentPose_2)  
    Test2=....(currentPose_2.pose[])....(currentPose_2.pose[])....(currentPose_2.pose[])  
    SendData(socket,Test2)  
    Wait()  

    
    RelMovLUser({,y,,,,})  
    Wait()  
    currentPose_3=GetPose(,)  
    Wait()  
    (,currentPose_3)  
    Test3=....(currentPose_3.pose[])....(currentPose_3.pose[])....(currentPose_3.pose[])  
    SendData(socket,Test3)  
    Wait()