YuMi share position, state, command, etc from opposite arm

BlixatBlixat Hønefoss
Hi 

I can run boh arms fin separatly, but to share position, state, command, etc, must I use global variable between multiple task ? 

:
L_Arm()
PERS num state:= 10;
...

R_Arm()
PERS state;
IF state = 10 Then.... 

Or is it an easier way to retrieve data from opposite arm ? 

ex:

R_Arm()
IF #L_Arm:state = 10 Then... 

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