Mitsubishi Electric CR800 Series - Preparation for Brake Release

4 Appendix
4-23
int DispType;
void *DispData;
switch(disp_data) {
case 0:
DispType = MXTrecv.RecvType;
DispData = &MXTrecv.dat;
break;
case 1:
DispType = MXTrecv.RecvType1;
DispData = &MXTrecv.dat1;
break;
case 2:
DispType = MXTrecv.RecvType2;
DispData = &MXTrecv.dat2;
break;
case 3:
DispType = MXTrecv.RecvType3;
DispData = &MXTrecv.dat3;
break;
default:
break;
}
switch(DispType) {
case MXT_TYP_JOINT:
case MXT_TYP_FJOINT:
case MXT_TYP_FB_JOINT:
if(loop==1) {
memcpy(&jnt_now, DispData, sizeof(JOINT));
loop = 2;
}
if(disp) {
JOINT *j=(JOINT*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d
Type(JOINT)=%d¥n %7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f (%s)"
,MXTrecv.CCount,MXTrecv.TCount,DispType
,j->j1, j->j2, j->j3 ,j->j4, j->j5, j->j6, j->j7, j->j8, str);
cout << buf << endl;
}
break;
case MXT_TYP_POSE:
case MXT_TYP_FPOSE:
case MXT_TYP_FB_POSE:
if(loop==1) {
memcpy(&pos_now, &MXTrecv.dat.pos, sizeof(POSE));
loop = 2;
}
if(disp) {
POSE *p=(POSE*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d
Type(POSE)=%d¥n %7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f, %04x,%04x (%s)"
,MXTrecv.CCount,MXTrecv.TCount,DispType
,p->w.x, p->w.y, p->w.z, p->w.a, p->w.b, p->w.c, p->sflg1, p->sflg2, str);
cout << buf << endl;
}
break;
case MXT_TYP_PULSE:
case MXT_TYP_FPULSE:
case MXT_TYP_FB_PULSE:
case MXT_TYP_CMDCUR:
case MXT_TYP_FBKCUR: