Closedown

2017-03-01 15:30:04 +01:00
parent 0ba95fd137
commit 5aa71d13fe
4 changed files with 56 additions and 10 deletions
@@ -9,6 +9,7 @@
      <Local name="ret" type="num" xsi:type="array" size="32" />
      <Local name="args" type="num" xsi:type="array" size="32" />
      <Local name="error" type="num" xsi:type="array" size="1" />
+      <Local name="aux" type="num" xsi:type="array" size="1" />
    </Locals>
    <Code><![CDATA[begin
  req = false
@@ -18,7 +19,12 @@
    //Record the joint force (comment out next line for use with expansion add-on)
    getJointForce(l_nJointForce)
    for i=0 to 5
-      aioSet(JF[i], l_nJointForce[i]*100)  
+      aux = l_nJointForce[i]*100
+      if aux<0 
+        //aux = 65536 + aux
+        aux = - aux
+      endIf
+      aioSet(JF[i], aux)  
    endFor