rcallback
Definition of functions, that are executed automatically
Contents
Last date of modification : 2010/10/18
Syntax
- rcallback( ID, @FUNCTION-HANDLE, 'started' )
- rcallback( ID, @FUNCTION-HANDLE, 'finished') [DEFAULT]
- rcallback( ID, { @FUNCTION-HANDLE, ARGUMENTLIST } , 'started' )
- rcallback( ID, { @FUNCTION-HANDLE, ARGUMENTLIST } , 'finished' )
| Inputs | Description | VALUE |
| ID | Identification-vector of a command, sent to the robot | a returned value by rmove or rset |
| @FUNCTION-HANDLE | Handle of the to be executed function | @-operator+functionname |
| ARGUMENTLIST | a list of function-arguments, separated by comma | everything |
Description
rcallback defines functions, that are executed, when the execution of a rmove- or rset-command on the robot-controller started or finished. That can be declared by the keywords 'finished' and 'started'.
Examples
Printing text during motion
ID = rmove( h, 'home','speed',5); rcallback( ID, {@disp, 'Motion started'}, 'started'); rcallback( ID, {@disp, 'Motion finished'}, 'finished');
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Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010