RAPID Syntax Error

innebandy

Hello,
I'd like to use a FOR loop to reduce the number of instructions. However, a syntax error occurs when I coded a routine as below. Can anyone help implement it? 
THX.

  PERS jointtarget jpos0:=[[8.64979E-6,2.03798E-6,-6.139E-6,2.2349E-5,20,-2.23871E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos1:=[[8.64979E-6,9.76204E-6,-2.88898E-7,-180,-20,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos2:=[[8.64979E-6,93.0963,-180,7.98897E-6,106.904,9.36989E-7],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos3:=[[8.64677E-6,93.0963,-180,-180,-106.904,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos4:=[[-180,-87.5354,-27.4211,-180,85.0435,-1.1935E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos5:=[[-180,-87.5354,-27.4211,8.57699E-6,-85.0435,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos6:=[[-180,-23.0743,-152.579,-180,24.3467,-2.69069E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

  PERS jointtarget jpos7:=[[-180,-23.0743,-152.579,2.2267E-5,-24.3467,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

PROC rTruncate()

  FOR i FROM 0 TO 7 DO

    jpos{i}.robax.rax_1:=Trunc(jpos{i}.robax.rax_1\dec:=2);

    jpos{i}.robax.rax_2:=Trunc(jpos{i}.robax.rax_2\dec:=2);

    jpos{i}.robax.rax_3:=Trunc(jpos{i}.robax.rax_3\dec:=2);

    jpos{i}.robax.rax_4:=Trunc(jpos{i}.robax.rax_4\dec:=2);

    jpos{i}.robax.rax_5:=Trunc(jpos{i}.robax.rax_5\dec:=2);

    jpos{i}.robax.rax_6:=Trunc(jpos{i}.robax.rax_6\dec:=2);

    !... 
  ENDFOR

ENDPROC

jmf

Try this.

    PERS jointtarget jpos{8}:=[[[0,2.03798E-6,-6.139E-6,2.2349E-5,20,-2.23871E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[8.64979E-6,93.09,-2.88898E-7,-180,-20,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
                               [[8.64979E-6,93.0963,-180,7.98897E-6,106.904,9.36989E-7],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[8.64677E-6,93.0963,-180,-180,-106.904,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
                               [[-180,-87.5354,-27.4211,-180,-85.04,-1.1935E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[-180,-87.5354,-27.4211,8.57699E-6,-85.0435,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
                               [[-180,-23.0743,-152.579,-180,24.3467,-2.69069E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[-180,-23.0743,-152.579,2.2267E-5,-24.3467,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]];
    PERS jointtarget jpos0:=[[8.64979E-6,2.03798E-6,-6.139E-6,2.2349E-5,20,-2.23871E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos1:=[[8.64979E-6,9.76204E-6,-2.88898E-7,-180,-20,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos2:=[[8.64979E-6,93.0963,-180,7.98897E-6,106.904,9.36989E-7],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos3:=[[8.64677E-6,93.0963,-180,-180,-106.904,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos4:=[[-180,-87.5354,-27.4211,-180,85.0435,-1.1935E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos5:=[[-180,-87.5354,-27.4211,8.57699E-6,-85.0435,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos6:=[[-180,-23.0743,-152.579,-180,24.3467,-2.69069E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos7:=[[-180,-23.0743,-152.579,2.2267E-5,-24.3467,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

    PROC rTruncate()
        FOR i FROM 0 TO 7 DO
            jpos{1}.robax.rax_1:=Trunc(jpos1.robax.rax_1\dec:=2);
            jpos{2}.robax.rax_2:=Trunc(jpos2.robax.rax_2\dec:=2);
            jpos{3}.robax.rax_3:=Trunc(jpos3.robax.rax_3\dec:=2);
            jpos{4}.robax.rax_4:=Trunc(jpos4.robax.rax_4\dec:=2);
            jpos{5}.robax.rax_5:=Trunc(jpos5.robax.rax_5\dec:=2);
            jpos{6}.robax.rax_6:=Trunc(jpos6.robax.rax_6\dec:=2);
            !... 
        ENDFOR
    ENDPROC

innebandy

I tried a similar method as you, but failed. I Probably missed something.
Thanks a lot.

jmf

Pleasure.

Micky

Hello,

Arrays in RAPID start with index 1 and not with index 0.

But since you don't use an array you have to use the instructions "GetDataVal" and "SetDataVal" to access the content of variables by name.

Here is an example:

 PROC Example()

    

    FOR i FROM 0 TO 7 DO 

      TruncJointTarget "jpos"+Valtostr(i);

    ENDFOR 

    

  endproc 

  

  PROC TruncJointTarget(string JointName)

    VAR jointtarget jtTemp;

    

    GetDataVal JointName,jtTemp;   

    jtTemp.robax.rax_1:=Trunc(jtTemp.robax.rax_1\dec:=2);

    jtTemp.robax.rax_2:=Trunc(jtTemp.robax.rax_2\dec:=2);

    jtTemp.robax.rax_3:=Trunc(jtTemp.robax.rax_3\dec:=2);

    jtTemp.robax.rax_4:=Trunc(jtTemp.robax.rax_4\dec:=2);

    jtTemp.robax.rax_5:=Trunc(jtTemp.robax.rax_5\dec:=2);

    jtTemp.robax.rax_6:=Trunc(jtTemp.robax.rax_6\dec:=2);

    SetDataVal JointName,jtTemp;

    

  ENDPROC 

innebandy

Hello Micky,
I fixed the problem using an array and your idea is also a good alternative. Thanks.