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gac-S_Changer
2017-03-02 14:53:11 +01:00
parent ab7b7fd540
commit 7c15b35b59
3 changed files with 7 additions and 8 deletions
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3
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
View File

@@ -82,11 +82,10 @@
<Data name="sSio" access="private" xsi:type="array" type="sio" size="1">
<Value key="0" link="Socket\sSIO" />
</Data>
<Data name="events" access="private" xsi:type="array" type="string" size="10" />
<Data name="tcp_events" access="private" xsi:type="array" type="string" size="10" />
<Data name="tcp_n" access="private" xsi:type="array" type="num" size="1" />
<Data name="tcp_a" access="private" xsi:type="array" type="num" size="10" />
<Data name="tcp_b" access="private" xsi:type="array" type="bool" size="1" />
<Data name="tcp_s" access="private" xsi:type="array" type="string" size="1" />
<Data name="gripper" access="private" xsi:type="array" type="tool" size="30">
<Value key="0" fatherId="flange[0]" ioLink="valve1" />
<Value key="1" fatherId="flange[0]" ioLink="valve1" />

8
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
View File

@@ -92,12 +92,12 @@
tx = tx + "0" + array_separator
endIf
if events[0] != ""
tx = tx + events[0]
if tcp_events[0] != ""
tx = tx + tcp_events[0]
for index=0 to 8
events[index]= events[index+1]
tcp_events[index]= tcp_events[index+1]
endFor
events[9] = ""
tcp_events[9] = ""
endIf
break

4
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
View File

@@ -12,8 +12,8 @@
//How to break a for?
for index=0 to 9
if ev != ""
if events[index] == ""
events[index] = ev
if tcp_events[index] == ""
tcp_events[index] = ev
ev = ""
endIf
endIf