# 坐标控制

## 1 单参数控制

### 1.1 发送单参数坐标

WriteCoord(Axis axis, double value, int speed = DefaultSpeed)

`mycobot::MyCobot::I().WriteCoord(mycobot::Axis::X, 10, 30);`

## 2 多参数控制

### 2.1 获取全部坐标

GetCoords()

`mycobot::Coords coords = mycobot::MyCobot::I().GetCoords();`

### 2.2 发送全部坐标

WriteCoords(const Coords& coords, int speed = DefaultSpeed)

``````mycobot::Coords goal_coords = { 5, 5, 5, 5, 5, 5 };
mycobot::MyCobot::I().WriteCoords(goal_coords, 30);
``````

## 3 完整使用案例

``````int main(int argc, char* argv[])
try {
QCoreApplication a(argc, argv);
using namespace std::chrono_literals;
if (!mycobot::MyCobot::I().IsControllerConnected()) {
std::cerr << "Robot is not connected\n";
exit(EXIT_FAILURE);
}
std::cout << "Robot is connected\n";
mycobot::MyCobot::I().PowerOn();
mycobot::MyCobot::I().StopRobot();
std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n";
mycobot::Angles angles = mycobot::MyCobot::I().GetAngles();
mycobot::Coords coords = mycobot::MyCobot::I().GetCoords();
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", " << angles[mycobot::J3] << ", "
<< angles[mycobot::J4] << ", " << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]";
mycobot::Angles goal_angles = { 5, 5, 5, 5, 5, 5 };
mycobot::MyCobot::I().WriteAngles(goal_angles);
while (!mycobot::MyCobot::I().IsInPosition(goal_angles, false)) {
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", "
<< angles[mycobot::J3] << ", " << angles[mycobot::J4] << ", "
<< angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]" << std::flush;
}

mycobot::MyCobot::I().JogAngle(mycobot::Joint::J1, 1, 5);
mycobot::MyCobot::I().StopRobot();

std::cout << "\n";
exit(EXIT_SUCCESS);
} catch (std::error_code&) {
std::cerr << "System error. Exiting.\n";
exit(EXIT_FAILURE);
} catch (...) {
std::cerr << "Unknown exception thrown. Exiting.\n";
exit(EXIT_FAILURE);
}
``````