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

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... 

Comments

  • thewater
    thewater sesto sg
    The only way with variables is that one. You may try to use virtual group signals, so that both arms can write and read the same signal