robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx

@@ -124,5 +124,8 @@
       <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">
+      <Value key="0" fatherId="world[0]" />
+    </Data>
   </Datas>
 </Database>

robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx

@@ -93,7 +93,7 @@
                                   ex = "The variable does not exists"
                                 break          
                                 case -2        
-                                  ex = "The variable library does not exists"
+                                  ex = "The variable library does not exist"
                                 break          
                                 case -3        
                                   ex = "The index is out of range"
@@ -130,7 +130,7 @@
                                       return
                                     break          
                                     case -2        
-                                      ex = "The variable library does not exists"
+                                      ex = "The variable library does not exist"
                                       return
                                     break          
                                     case -3        
@@ -147,10 +147,10 @@
                                   endSwitch
                             endFor
                         break  
-                        case "get_str"
-                          $exec("s = " + args[0])          
-                          tx = s
-                        break        
+                        //case "get_str"
+                        //  //$exec("s = " + args[0])          TODO: MAKES THE CONTROLLER TO CRASH!
+                        //  //tx = s
+                        //break        
                         case "get_pnt"
                           $exec("p = " + args[0])          
                             $exec("t = " + args[0])          

robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx

@@ -19,7 +19,8 @@
     case "mount"
         toNum(args[0], puck, ok)
         toNum(args[1], sample, ok)
-        tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
+      tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
+      //taskCreate "mount",10,mount(puck, sample)
     break
     default
       ex = "Invalid command: " + cmd

robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx

@@ -1,12 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
   <Program name="simulateEvents">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="interval" type="num" xsi:type="element" />
+    </Parameters>
     <Locals>
       <Local name="str" type="string" xsi:type="array" size="1" />
     </Locals>
     <Code><![CDATA[begin
   while true
-    delay(3)    
+    delay(interval)    
     if isPowered()
       str = "ON"
     else

robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx

@@ -12,7 +12,7 @@
   
   taskCreate "com_modbus",10,comModbus()
   taskCreate "com_tcp",10,comTcp()  
-  taskCreate "sim_ev",10,simulateEvents()
+  //taskCreate "sim_ev",10,simulateEvents(interval)
   
   while true
     movel(pForce1,flange,mNomSpeed)