Passing a mecunit as a parameter to a PROC

Shawndietrich

I have a few robots with external servos on the gripper and I want to write a PROC that all the robots can use, so I'm trying to pass a Mecunit as a parameter into a routine.  I'm presented with a fault saying that a mecunit is not a value.  Is there a clean way of passing a mecunit? 

lemster68

How about using a switch, then use function Present?

Shawndietrich

I thought about that but I some robots have one external axis and some have 4 so I want to write a routine that I just feed the parameters and no matter how many axis it will be the same code. 

lemster68

The switch is optional, you a.) don't pass any at all, b.) pass one or more or, c.) use them all if appropriate.

lemster68

IF Present(swMecUnit1) THEN
    ActUnit MecUnit1;
    Do whatever;
either another IF or ELSEIF
   blah blah
ENDIF

Shawndietrich

Is there a way to read which mechanical unit is configured on the robot?

lemster68

Maybe, but I am almost done here for today.  I can look tomorrow if you have not found out.

Shawndietrich

I think I got it.  I had to put a VAR in front of the data type 

PROC EOATServo(var mecunit Servo,robtarget pTarget,num Speed)

Shawndietrich

Yup that's what it was