Fix Staubli IO

visose · Nov 22, 2024 · 67a6bee · 67a6bee
1 parent 7f85e15
commit 67a6bee
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Showing 6 changed files with 13 additions and 16 deletions.
diff --git a/src/Robots/Commands/SetAO.cs b/src/Robots/Commands/SetAO.cs
@@ -77,8 +77,7 @@ string CodeUR(RobotSystem robotSystem, Target target)
 
     string CodeStaubli(RobotSystem robotSystem, Target target)
     {
-        var number = GetNumber(robotSystem);
-        return $"aioSet(aos[{number}], {Name})";
+        return $"aioSet(aos[{AO}], {Name})";
     }
 
     string CodeDoosan(RobotSystem robotSystem, Target target)

diff --git a/src/Robots/Commands/SetDO.cs b/src/Robots/Commands/SetDO.cs
@@ -54,10 +54,8 @@ string CodeUR(RobotSystem robotSystem, Target target)
 
     string CodeStaubli(RobotSystem robotSystem, Target target)
     {
-        var number = GetNumber(robotSystem);
-
         string textValue = Value ? "true" : "false";
-        return $"waitEndMove()\r\ndos[{number}] = {textValue}";
+        return $"waitEndMove()\r\ndos[{DO}] = {textValue}";
     }
 
     string CodeDoosan(RobotSystem robotSystem, Target target)

diff --git a/src/Robots/PostProcessors/KRLPostProcessor.cs b/src/Robots/PostProcessors/KRLPostProcessor.cs
@@ -28,11 +28,11 @@ public PostInstance(SystemKuka system, Program program)
 
             for (int i = 0; i < _system.MechanicalGroups.Count; i++)
             {
-                var groupCode = new List<List<string>>
-                    {
-                        MainFile(i),
-                        DatFile(i)
-                    };
+                List<List<string>> groupCode =
+                [
+                    MainFile(i),
+                    DatFile(i)
+                ];
 
                 for (int j = 0; j < program.MultiFileIndices.Count; j++)
                     groupCode.Add(SrcFile(j, i));

diff --git a/src/Robots/PostProcessors/RapidPostProcessor.cs b/src/Robots/PostProcessors/RapidPostProcessor.cs
@@ -25,10 +25,10 @@ public PostInstance(SystemAbb system, Program program)
 
             for (int i = 0; i < _system.MechanicalGroups.Count; i++)
             {
-                var groupCode = new List<List<string>>
-            {
-                MainModule(i)
-            };
+                List<List<string>> groupCode =
+                [
+                    MainModule(i)
+                ];
 
                 for (int j = 0; j < program.MultiFileIndices.Count; j++)
                     groupCode.Add(SubModule(j, i));

diff --git a/src/Robots/RobotSystems/CobotSystem.cs b/src/Robots/RobotSystems/CobotSystem.cs
@@ -24,7 +24,7 @@ static DefaultPose GetDefaultPose(RobotArm robot)
 
     public override double DegreeToRadian(double degree, int i, int group = 0)
     {
-        return degree.ToRadians();
+        return Robot.DegreeToRadian(degree, i);
     }
 
     internal override double Payload(int group)

diff --git a/src/Robots/TargetAttributes/Frame.cs b/src/Robots/TargetAttributes/Frame.cs
@@ -26,7 +26,7 @@ public class Frame : TargetAttribute, IEquatable<Frame>
     public int? Number { get; }
     internal int CoupledPlaneIndex { get; set; }
 
-    public bool IsCoupled => (CoupledMechanicalGroup != -1);
+    public bool IsCoupled => CoupledMechanicalGroup != -1;
 
     public Frame(Plane plane, int coupledMechanism = -1, int coupledMechanicalGroup = -1, string? name = null, bool useController = false, int? number = null)
         : base(name)