How to solve the problem of reading robot data and new time? For example, get the 6-axis Angle value

XiaoEr

How to solve the problem of reading robot data and new time?

For example, get the 6-axis Angle value synchronously.

Timer control card

OskarHenriksson

Hi XiaoEr

You want to log the axis values at a given pace.
I propose creating an RobotStudio add-in.

Here is a dirty function I've created to read the values on joint value change, I hope at least it's a start for you

Good luck!
/Oskar

 public static void ReadJoints()
        {
            if (recording) return;
            mech = Station.ActiveStation.ActiveTask.Mechanism;
            td.delta_t *= Simulator.SimulationSpeed;
            mech.GetJointLimits(out td.jointLowerLimits, out td.jointUpperLimits);
            td.axisTranslations = new double[mech.Children.Count()][];
            foreach (var child2 in mech.Children)  
            {
                var child = child2 as IMechanismLink;
                Matrix4 ct = child.CorrectionTransform;
                if (child2.Name.StartsWith("Link") && child2.Name.Length == 5){
                    //TODO: less crappy link identification
                    int linkId = child2.Name.ElementAt(4) - 49;
                    td.axisTranslations[linkId] = ct.Translation.ToArray();
                }
            }

            double[] jValues = mech.GetJointValues();
            String jValues_text = String.Join(" | ", jValues.Select(j => Math.Round(j,2).ToString()));
            Logger.AddMessage("rs-addin: " +jValues_text);
            mech.JointValuesChanged += JointValuesHandler;
            recording = true;
        }

private static void JointValuesHandler(object sender, EventArgs e)
        {
            double[] jValues = mech.GetJointValues();
            if(DateTime.Now.Subtract(LastTimeStamp) > TimeSpan.FromSeconds(td.delta_t))
            {
                jointList.Push(jValues);
                LastTimeStamp = DateTime.Now;
            }
        }