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gac-S_Changer
2017-03-01 16:36:24 +01:00
parent 49a6e6a7a2
commit c9ff017d8b
3 changed files with 50 additions and 50 deletions
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16
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
View File

@@ -83,10 +83,10 @@
<Value key="0" link="Socket\sSIO" />
</Data>
<Data name="events" access="private" xsi:type="array" type="string" size="10" />
<Data name="n" access="private" xsi:type="array" type="num" size="1" />
<Data name="arr" access="private" xsi:type="array" type="num" size="10" />
<Data name="b" access="private" xsi:type="array" type="bool" size="1" />
<Data name="s" access="private" xsi:type="array" type="string" size="1" />
<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" />
@@ -119,12 +119,12 @@
<Value key="28" fatherId="flange[0]" ioLink="valve1" />
<Value key="29" fatherId="flange[0]" ioLink="valve1" />
</Data>
<Data name="j" access="private" xsi:type="array" type="jointRx" size="1" />
<Data name="p" access="private" xsi:type="array" type="pointRx" size="1">
<Data name="tcp_j" access="private" xsi:type="array" type="jointRx" size="1" />
<Data name="tcp_p" access="private" xsi:type="array" type="pointRx" size="1">
<Value key="0" fatherId="world[0]" />
</Data>
<Data name="t" access="private" xsi:type="array" type="trsf" size="1" />
<Data name="f" access="private" xsi:type="array" type="frame" size="1">
<Data name="tcp_t" access="private" xsi:type="array" type="trsf" size="1" />
<Data name="tcp_f" access="private" xsi:type="array" type="frame" size="1">
<Value key="0" fatherId="world[0]" />
</Data>
</Datas>

44
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
View File

@@ -163,38 +163,38 @@
break
//case "get_str"
// //$exec("s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH!
// //$exec("tcp_s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH!
// //tx = s
//break
case "get_pnt"
$exec("p = " + args[0])
tx = tx + toString(".4", p.trsf.x) + "|"
tx = tx + toString(".4", p.trsf.y) + "|"
tx = tx + toString(".4", p.trsf.z) + "|"
tx = tx + toString(".4", p.trsf.rx) + "|"
tx = tx + toString(".4", p.trsf.ry) + "|"
tx = tx + toString(".4", p.trsf.rz) + "|"
$exec("tcp_p = " + args[0])
tx = tx + toString(".4", tcp_p.trsf.x) + "|"
tx = tx + toString(".4", tcp_p.trsf.y) + "|"
tx = tx + toString(".4", tcp_p.trsf.z) + "|"
tx = tx + toString(".4", tcp_p.trsf.rx) + "|"
tx = tx + toString(".4", tcp_p.trsf.ry) + "|"
tx = tx + toString(".4", tcp_p.trsf.rz) + "|"
break
case "get_jnt"
$exec("j = " + args[0])
tx = tx + toString(".4", j.j1) + "|"
tx = tx + toString(".4", j.j2) + "|"
tx = tx + toString(".4", j.j3) + "|"
tx = tx + toString(".4", j.j4) + "|"
tx = tx + toString(".4", j.j5) + "|"
tx = tx + toString(".4", j.j6) + "|"
$exec("tcp_j = " + args[0])
tx = tx + toString(".4", tcp_j.j1) + "|"
tx = tx + toString(".4", tcp_j.j2) + "|"
tx = tx + toString(".4", tcp_j.j3) + "|"
tx = tx + toString(".4", tcp_j.j4) + "|"
tx = tx + toString(".4", tcp_j.j5) + "|"
tx = tx + toString(".4", tcp_j.j6) + "|"
break
case "get_trf"
$exec("t = " + args[0])
tx = tx + toString(".4", t.x) + "|"
tx = tx + toString(".4", t.y) + "|"
tx = tx + toString(".4", t.z) + "|"
tx = tx + toString(".4", t.rx) + "|"
tx = tx + toString(".4", t.ry) + "|"
tx = tx + toString(".4", t.rz) + "|"
$exec("tcp_t = " + args[0])
tx = tx + toString(".4", tcp_t.x) + "|"
tx = tx + toString(".4", tcp_t.y) + "|"
tx = tx + toString(".4", tcp_t.z) + "|"
tx = tx + toString(".4", tcp_t.rx) + "|"
tx = tx + toString(".4", tcp_t.ry) + "|"
tx = tx + toString(".4", tcp_t.rz) + "|"
break
case "get_help"