statemachine_extTrigger.lc 927 Bytes
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//// JGrafchart ---> ExtCtrl

// Communication and coordination
sample double startExtCtrl[2];
sample double skillFinished[2];
sample double state;

// Controller parameters
sample double ctrlpar[240];
sample double chains[120];
sample double chains_params[120];
sample double Cf[144];
sample double redund_weight[196];

// References
sample double refs[48];
sample double quat_refs[16];

// Special features
sample double detuning[2];
sample double freeDrive[2];

// Outputs Integrated to ExtCtrl
sample double ifkDigitalIn[8];

//// Extctrl ---> JGrafchart

// Communication and coordinaiton
sample double skillToRun[2];	//RAPID issued
sample double runExtctrl[2];
sample double resetProgram[2];
sample double kinematicsConverged[2];

// Measurments
sample double y_meas[96];
sample double quats[16];
sample double y_d_dot0[12];

// Inputs Integrated to ExtCtrl
sample double ifkAnalogOut[8];
sample double ifkDigitalOut[8];