Differences

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

--- rb5_advanced_programming [2023/01/20 14:31] – [External Connection] bskim
+++ rb5_advanced_programming [2023/02/07 14:22] (current) – [Exercise] bskim
@@ Line 32: / Line 32: @@
 [[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 126: / 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 329: / 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 |}}