connectToRobot.m

clear all;
close all;
clc;

addpath('circleTest');
addpath('rotateAxis4');
addpath('tactileTest');
addpath('calcTrajectory');
addpath('calcTrajectorySynchron');
addpath('moveConstForce');

disp('doing init java sleep...');
java.lang.Thread.sleep(100);

% 12 milliseconds
cycleTime = 12;

disp('starting wrapper...');

conHandle=robotConnector('192.168.2.2',6008,'UDP',cycleTime,'C:\Users\Matthias.SEESLENET\Documents\GitHub\KMC\bin\Release\KukaMatlabConnector.dll');
%conHandle=robotConnector('192.168.1.11',6008,'TCP',cycleTime,'C:\Users\Matthias.SEESLENET\Documents\GitHub\KMC\bin\Release\KukaMatlabConnector.dll');
disp('starting connection to robot...');
conHandle.connect();
disp('starting gui...');
conHandle.initGUI();
disp('waiting for connection attempt from robot...');
while( conHandle.isConnected() ~= 1 )
  pause(0.01);
end

disp('Matlab is now connected to robot... have fun!');