'!TITLE "RCXSample_CtrlGetValue.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarP1 As Object
	Dim caoVarS1 As Object
	Dim caoVarS2 As Object

	Dim caoVarWhrxy As Object

	Dim vRes As Variant

	set caoCtrl = cao.AddController("rcx1", "CaoProv.YAMAHA.RCX","","conn=com:2:19200:o:8:1:1, timeout=20000")
'	set caoCtrl = cao.AddController("rcx1", "CaoProv.YAMAHA.RCX","","conn=eth:133.215.201.11:23, timeout=20000")

	set caoRob = caoCtrl.AddRobot("rcx")
	set caoVarP1 = caoCtrl.AddVariable("P1")
	set caoVarS1 = caoCtrl.AddVariable("S1")
	set caoVarS2 = caoCtrl.AddVariable("S2")
	set caoVarWhrxy = caoRob.AddVariable("@WHRXY")

	vRes = caoCtrl.Execute("arithmeticExpression","SQR(100 * 5)")
	D1 = vRes		' 2.23606E01

	vRes = caoCtrl.Execute("arithmeticExpression", "LOCX(WHERE)")
	I1 = vRes		' 102054

	vRes = caoCtrl.Execute("StringExpression", """ABC"" + ""DEF""")
	S1 = vRes		' ABCDEF

	caoVarP1.Value = array(10.0, 20.0, 0, 0, 0, 0)
	P1 = caoVarP1.Value
	P2 = caoVarWhrxy.Value

	vRes = caoCtrl.Execute("PointExpression", "P1+WHRXY")
	P3 = vRes

	caoVarS1.Value = array(1.0, 2.0, 3.0, 4.0)	
	caoVarS2.Value = array(5.0, 6.0, 7.0, 8.0)	

	vRes = caoCtrl.Execute("ShiftExpression", "S1")
	P4 = vRes

	caoCtrl.Execute "NativeSend", "@?S2"
	vRes = caoCtrl.Execute("NativeReceive")
	S2 = vRes

End Sub