Mitsubishi Electric CR800 Series - Page 141

4 Appendix
4-21
memset(&MXTrecv, 0, sizeof(MXTrecv));
// Transmission data creation
if(loop==1) { // Only first time
MXTsend.Command = MXT_CMD_NULL;
MXTsend.SendType = MXT_TYP_NULL;
MXTsend.RecvType = type;
MXTsend.SendIOType = MXT_IO_NULL;
MXTsend.RecvIOType = IOSendType;
MXTsend.CCount = counter = 0;
}
else { // Second and following times
MXTsend.Command = MXT_CMD_MOVE;
MXTsend.SendType = type;
MXTsend.RecvType = type_mon[0];
MXTsend.RecvType1= type_mon[1];
MXTsend.RecvType2= type_mon[2];
MXTsend.RecvType3= type_mon[3];
switch(type) {
case MXT_TYP_JOINT:
memcpy(&MXTsend.dat.jnt, &jnt_now, sizeof(JOINT));
MXTsend.dat.jnt.j1 += (float)(delta*ratio*3.141592/180.0);
break;
case MXT_TYP_POSE:
memcpy(&MXTsend.dat.pos, &pos_now, sizeof(POSE));
MXTsend.dat.pos.w.x += (delta*ratio);
break;
case MXT_TYP_PULSE:
memcpy(&MXTsend.dat.pls, &pls_now, sizeof(PULSE));
MXTsend.dat.pls.p1 += (long)((delta*ratio)*10);
break;
default:
break;
}
MXTsend.SendIOType = IOSendType;
MXTsend.RecvIOType = IORecvType;
MXTsend.BitTop = IOBitTop;
MXTsend.BitMask =IOBitMask;
MXTsend.IoData = IOBitData;
MXTsend.CCount = counter;
}
// Keyboard input
// [Enter]=End / [d]= Display the monitor data, or none / [0/1/2/3]= Change of monitor data display
// [z/x]=Increment/decrement first command data transmitted by the delta amount
while(_kbhit()!=0) {
ch=_getch();
switch(ch) {
case 0x0d:
MXTsend.Command = MXT_CMD_END;
loop = 0;
break;
case 'Z':
case 'z':
delta += (float)0.1;
break;
case 'X':
case 'x':
delta -= (float)0.1;
break;
case 'C':