Differences

This shows you the differences between two versions of the page.

--- rb5_advanced_programming [2023/01/20 14:16] – [External Script Control API] bskim
+++ rb5_advanced_programming [2023/02/07 14:22] (current) – [Exercise] bskim
@@ Line 29: / Line 29: @@
 |  0x24  |  Size&0xFF  |  (Size>>8)&0xFF  |  0x03  |  Data  |
 The format of the data is shown below. Depending on the system version, the size of the data may be different. However, the order is consistent, please refer to the table below.
- *[[rb5_advanced_programming#reqdata format|reqdata format]]
+[[rb5_advanced_programming#reqdata format|reqdata format]]
+==== Exercise ====
+* Print out the RB5's current Position using script command.
+* Print out the RB5's current Joint angle using script command.
+* Move RB5 from joint angle(0,0,0,0,0,0) to angle(10,20,30,40,50,60), speed 30% using script command.
+* Move RB5 from joint Position(0.4,0,0.4,0,0,0) to Position(0.2,0.2,0.5,0,0,0), speed 30% using script command.
 ====Example====
@@ Line 124: / Line 136: @@
 def get_data_thread(sock, q_in, q_out):
     print('start')
-    ft_calib=calib_ft_data()
     while True:
         cmd=q_in.get()
         if cmd == 1:
             rb5_data_ = Rb5_getdata(sock)
-            ft_data_ =  read_ft_data()-ft_calib
-            q_out.put(ft_data_)
             q_out.put(rb5_data_)
@@ Line 327: / Line 336: @@
 =====reqdata format=====
+^             Header (4 Byte)             ||||  Data (n Byte)  |
+|  0x24  |  Size&0xFF  |  (Size>>8)&0xFF  |  0x03  |  Data  |
 {{ :bskim:rb5_tutorial:reqdata1.png?nolink&600 |}}
 {{ :bskim:rb5_tutorial:reqdata2.png?nolink&600 |}}