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36 lines
950 B
36 lines
950 B
bool __SVR_CURRENT_JOB = false;
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bool __MSRMSRJNTPOS = false;
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bool __MSRCMDJNTPOS = false;
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bool __MSRCMDPOSE = false;
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bool __SETVELOCITY = false;
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bool __SETACCEL = false;
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bool __DEBUG = false;
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bool __POTFIELDMODE = false;
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bool __MSRSTARTPOTFIELD = false;
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bool __MSRSTOPPOTFIELD = false;
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bool __MSRSETPOS = false;
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bool __CARTMOVE = false;
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bool __DOUS = false;
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bool __DOUS2 = false;
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int globi = 0;
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float MSRMSRJNTPOS[7];
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double MSRCMDJNTPOS[7];
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double MSRMSRCARTPOS[12];
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float MSRCMDCARTPOS[12];
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double MSRMSRJACOBIAN[42];
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double MSRMSRFTTCP[6];
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double MSRCMDPOSE[3][4];
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float USTarget[12];
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float USApproach[12];
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double VELOCITY = 20;
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double ACCELARATION = 10;
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double maxVelJnt[] = {110.0,110.0,128.0,128.0,204.0,184.0,184.0};
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double maxAccJnt[] = {1.0,1.0,1.0,1.0,2.0,1.0,1.0};
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double maxTrqJnt[] = {176.0,176.0,100.0,100.0,100.0,38.0,38.0};
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double maxRangeJnt[] = {170.0,120.0,170.0,120.0,170.0,120.0,170.0};
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