public void writeFrame(
String frameName, double X, double Y, double Z, double A, double B, double C) {
KRLFrame frame = new KRLFrame(frameName);
frame.setX(X);
frame.setY(Y);
frame.setZ(Z);
frame.setA(A);
frame.setB(B);
frame.setC(C);
try {
this.connection.writeVariable(frame);
} catch (Exception e) {
System.out.println("Error writing frame to Robot");
}
}
public String readFrame(String frameName) {
KRLFrame frame = new KRLFrame(frameName);
try {
this.connection.readVariable(frame);
} catch (Exception e) {
System.out.println("Error reading frame from Robot");
}
return "Frame: "
+ frameName
+ ", X: "
+ frame.getX()
+ ", Y: "
+ frame.getY()
+ ", Z: "
+ frame.getZ()
+ ", A: "
+ frame.getA()
+ ", B :"
+ frame.getB()
+ ", C : "
+ frame.getC();
}