'!TITLE "MatroxRobComSample"

#include <Variant.h>

Sub Main 
	Dim caoCtrl as Object

	' socket bind (Port=PortNumber)
	caoCtrl = cao.AddController("RobCom", "CaoProv.Matrox.RobCom", "", "Port=2001, timeout=6000")
	
	Do
		' Wait for IrisGT
		if caoCtrl.IsConnected Then
			Exit Do
		End if
		delay 100
	Loop

SendAndRecieve:	
	Do
		On Error Goto ErrorProc
		delay 100
		' Send Position and Request
		caoCtrl.SendPos 1, VarChangeType(CurPos, VT_R8 + VT_ARRAY)

		delay 100

		' Get Position
		P11 = caoCtrl.ReceivePos
	Loop

	
	' Disconnect Client
	' caoCtrl.DisconnectClient

	' Clear recieved packet
	' caoCtrl.Clear

	Exit Sub
ErrorProc:
	PrintDbg HEX(Err.OriginalNumber)
	Goto SendAndRecieve
End Sub