wck position

[chickenkai]

Hi,

I use C# to control my robobuilder, and I use RobobuilderLib.dll

Now I want to know my wck position

I've tried wckpos(), but it just showed 0 or 1

So which function should I use?

thank!

[l3v3rz]

Hi,

The wckReadPos() command return 0 or 1 indicating whether the read was successful (or not). If its true or 1 then the return values are available in the array respnse[]. So if the servo doesn't exist or isn't connected the read fails if it succeeds it returns two bytes representing the position and load/torque. Generally the 1st value is 0 unless load is very high (which is shame) and 2nd is the position of servo

So to read the position of servo 5 your should look like this:

Code: Select all

            PCremote  p = new PCremote("COM1");
            wckMotion w = new wckMotion(p);

            if (w.wckReadPos(5))
            {
                Console.WriteLine("Servo pos 5 = {0}", w.respnse[1]);
            }
            else
            {
                Console.WriteLine("Servo 5 NOT CONNECTED");
            }


Hope that helps

Edit: oops that should read respnse[1], the load is returned is respnse[0].

[chickenkai]

OK

Now I understand how to use.

Thanks!

[l3v3rz]

Sorry !! I've just noticed an error with previous post - see correction above and now added to wiki as well

http://code.google.com/p/robobuildervc/wiki/wckMotion

If theres any thing else that needs some explanation please shout.

[chickenkai]

Hi,

I have a question.

What does the respnse[0] represent?

thanks!

[l3v3rz]

from the wck Read spec the first byte is the servo load, this is normally zero as its quite insensitive. So it more an overload/current value if you try and move to a angle but the servo is stopped/blocked you should see load go up. Unfortunately not sensitive enough to do feedback in normal operation like on a gripper for instance.

[chickenkai]

thanks!

Now I understand!