'!TITLE "RCXSample_RobotVar.pcs"

Sub Main 

	Dim caoCtrl As Object
	Dim caoRob As Object

	Dim caoVarArm as Object
	Dim caoVarOrg as Object		
	Dim caoVarAbsRst as Object		
	Dim caoVarSrvo as Object		
	Dim caoVarSpd as Object		
	Dim caoVarWhere as Object		
	Dim caoVarWhrxy as Object		
	Dim caoVarShft as Object	
	Dim caoVarHand as Object		

	Dim lNo As Long
	Dim lCnt As Long

	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("rob1", 1)

	set caoVarArm = caoRob.AddVariable("@ARM")
	set caoVarOrg = caoRob.AddVariable("@ORIGIN")
	set caoVarAbsRst = caoRob.AddVariable("@ABSRST")
	set caoVarSrvo = caoRob.AddVariable("@SERVO")
	set caoVarSpd = caoRob.AddVariable("@SPEED")
	set caoVarWhere = caoRob.AddVariable("@WHERE")
	set caoVarWhrxy = caoRob.AddVariable("@WHRXY")
	set caoVarShft = caoRob.AddVariable("@SHIFT")
	set caoVarHand = caoRob.AddVariable("@HAND")

	vRes = caoVarArm.Value
	S1 = "@ARM:" & vRes(0) & "," & vRes(1)
	S2 = "@ORIGIN:" & caoVarOrg.Value
	S3 = "@ABSRST:" & caoVarAbsRst.Value
	S4 = "@SERVO:" & caoVarSrvo.Value
	S5 = "@SHIFT:" & caoVarShft.Value
	S6 = "@HAND:" & caoVarHand.Value

	lNo = 7
	vRes = caoVarSpd.Value
	for lCnt = 0 to Ubound(vRes)
		S[lNo] = "@SPEED" & lCnt & ":" & vRes(lCnt)
		lNo = lNo + 1
	next

	vRes = caoVarWhere.Value
	for lCnt = 0 to Ubound(vRes)
		S[lNo] = "@WHERE" & lCnt & ":" & vRes(lCnt)
		lNo = lNo + 1
	next

	vRes = caoVarWhrxy.Value
	for lCnt = 0 to Ubound(vRes)
		S[lNo] = "@WHRXY" & lCnt & ":" & vRes(lCnt)
		lNo = lNo + 1
	next

End Sub