RoboComm in Windows Scripting

 

A sample Windows Script file (RhinoTest.vbs). Clicking on a VBS file will execute the script.

 

Dim Rhino' robocom object

Dim m_move ' move object

DIm d_move ' move object

 

' assumes that the RoboComm interfaces are installed

 

Set Rhino= CreateObject("RoboComm.robocom.1")

Set m_move = CreateObject("RoboComm.Move.1")

Set d_move = CreateObject("RoboComm.Move.1")

 

wscript.echo "Rhino reporting"

 

Rhino.SetPort 1††† ' com port 1

Rhino.Simulate = 1 ' does all the logical stuff but doesnt require robot

 

Rhino.home 'center axes about the limit switches

 

'assign motor steps to the axes

 

m_move.AuxG = 0

m_move.AuxH = 0

m_move.Base = 100

m_move.Shoulder = 100

m_move.Elbow = 100

m_move.WrstElv = 0

m_move.WrstRot = 0

m_move.Finger = 0

 

' report move to user

 

a = "m_move command " + vbcrlf

a = a + "a axis = " + cstr(m_move.Finger) + vbcrlf

a = a + "b axis = " + cstr(m_move.WrstRot) + vbcrlf

a = a + "c axis = " + cstr(m_move.WrstElv) + vbcrlf

a = a + "d axis = " + cstr(m_move.Elbow) + vbcrlf

a = a + "e axis = " + cstr(m_move.Shoulder) + vbcrlf

a = a + "f axis = " + cstr(m_move.Base) + vbcrlf

 

wscript.echo a

 

rhino.MoveR m_move ' do the move

 

 

Rhino.Where d_move ' report robot position after move

 

a = "robot location after move " + vbcrlf

a = a + "a axis = " + cstr(d_move.Finger) + vbcrlf

a = a + "b axis = " + cstr(d_move.WrstRot) + vbcrlf

a = a + "c axis = " + cstr(d_move.WrstElv) + vbcrlf

a = a + "d axis = " + cstr(d_move.Elbow) + vbcrlf

a = a + "e axis = " + cstr(d_move.Shoulder) + vbcrlf

a = a + "f axis = " + cstr(d_move.Base) + vbcrlf

 

wscript.echo a

 

Rhino.home ' send rhino back home

 

' destroy the objects created

 

set rhino = nothing

set m_move = nothing

set d_move = nothing