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[avishek]

Hi,

I have not tried this bit. Let me try and get back to you.

Thanks
Avishek

[avishek]

Hi Johannes

I have done the changes you had suggested and subsequently had to change the PRC_UDP.java. So the present changes alongwith your suggestions look like this

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public void CORE_UDP(LBR robot, Controller kuka_Sunrise_Cabinet_1, SpatialObject tool, String tcpname, ObjectFrame baseFrame, boolean enablelogging, ITaskLogger logger, IApplicationData AppData, MediaFlangeIOGroup ioGroup, String ip, int port) throws SocketException, UnknownHostException {

//movement parameters
double ptpacc = 1.0;
double ptpint = 4.0;
double linacc = 1000;
double linint = 4.0;

UDPInput = new LinkedBlockingQueue<PRC_CommandData>();


if (ioGroup != null){
digiogroup = new PRC_IOGroupExtended(ioGroup, kuka_Sunrise_Cabinet_1, PRC_Enums.DIGOUT);
aniogroup = new PRC_IOGroupExtended(ioGroup, kuka_Sunrise_Cabinet_1, PRC_Enums.ANOUT);
}

tool.attachTo(robot.getFlange());
actTCP = tool.getFrame(tcpname);

udprec = new UDPReceiver(UDPInput);
                // modified line
udpsend = new UDPSender(InetAddress.getByName(ip), port, UDPInput, ioGroup);

So far the code runs flawlessly and does not give any error. I can move, change digiIOs and read data back into GH. Now I need to pass the IO states through CollectPayload in order to read in GH.

Can you suggest what to do next here ?

Thanks

Avishek

[avishek]

Hey

Done!

Thanks a lot. We should send a box of chocolate to Linz actually

Avishek

[Johannes @ Robots in Architecture]

Sorry for the delay, today was a busy day!
Great to hear that it worked out, no chocolates necessary :)

Best,
Johannes