HIKROBOT_SDK_text1——机器人控制权

news/2024/10/19 13:58:57/

1.切换示教员，然后在示教器释放掉控制权

2.连接机器人代码

#include <memory>
#include <Windows.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>#include "MP_Public_API.h"int main()
{int64_t llRet = MP_SUCCESS;// Create Handlevoid * pHandle = MP_CreateHandle();if (nullptr == pHandle){printf("Create Handle fail!\n");}else{printf("Create Handle Success!\n");do{// Connect Controller Wth IP Addresschar szConnectInfo[BUFFER_LEN_32] = { "127.0.0.1:9000" };//请查看通讯管理中的IP，并改为Socket通讯llRet = MP_ConnectCtrlWithIP(pHandle, szConnectInfo);if (MP_SUCCESS != llRet){printf("Connect Ctrl With IP fail! llRet [0x%x]\n", llRet);MP_DestroyHandle(pHandle);break;}printf("Connect Controller With IP Success!\n");Sleep(500);// Request Control AccessllRet = MP_RequestControlAccess(pHandle);if (MP_SUCCESS != llRet){printf("Request Control Access fail! llRet [0x%x]\n", llRet);MP_DestroyHandle(pHandle);break;}printf("Request Control Access Success!\n");// Disconnect ControllerllRet = MP_DisConnectCTRL(pHandle);if (MP_SUCCESS != llRet){printf("Disconnect Ctrl With IP fail! llRet [0x%x]\n", llRet);MP_DestroyHandle(pHandle);break;}printf("Disconnect Ctrl With IP Success!\n");// Destroy HandlellRet = MP_DestroyHandle(pHandle);if (MP_SUCCESS != llRet){printf("Destroy Handle fail! llRet [0x%x]\n", llRet);break;}printf("Destroy Handle  Success!\n");} while (false);}system("pause");return 0;
}