# joints values
j1 = 0
j2 = 0
j3 = 0
j4 = 0
j5 = 0
j6 = 0
# TCP position
x = 0
y = 0
z = 0
# joints torque
t1 = 0
t2 = 0
t3 = 0
t4 = 0
t5 = 0
t6 = 0
# joints motor temperature
temp1 = 0.0
temp2 = 0.0
temp3 = 0.0
temp4 = 0.0
temp5 = 0.0
temp6 = 0.0
# controller outputs
o1 = 0
o2 = 0
o3 = 0
o4 = 0
# controller temperature
controller_tmp = 0
def bool_to_int(val):
if val:
return 1
else:
return 0
end
end
# update thread
thread update():
while True:
joints = get_actual_joint_positions()
j1 = joints[0]
j2 = joints[1]
j3 = joints[2]
j4 = joints[3]
j5 = joints[4]
j6 = joints[5]
tcp = get_actual_tcp_pose()
x = tcp[0]
y = tcp[1]
z = tcp[2]
torques = get_joint_torques()
t1 = norm(torques[0])
t2 = norm(torques[1])
t3 = norm(torques[2])
t4 = norm(torques[3])
t5 = norm(torques[4])
t6 = norm(torques[5])
temp1 = get_joint_temp(0)
temp2 = get_joint_temp(1)
temp3 = get_joint_temp(2)
temp4 = get_joint_temp(3)
temp5 = get_joint_temp(4)
temp6 = get_joint_temp(5)
o1 = bool_to_int(get_standard_digital_out(0))+6
o2 = bool_to_int(get_standard_digital_out(1))+4
o3 = bool_to_int(get_standard_digital_out(2))+2
o4 = bool_to_int(get_standard_digital_out(3))+0
controller_tmp = get_controller_temp()
sync()
end
end
run update()
