Xarm coordinates in blocky

[mithilra]

Hi,

Can I get the Xarm tool coordinates in blocky?
What function can I use?

[jane]

Hello,
You can use the following command:

[Wessel]

But is there a way to get the tool coordinates as a string from example. Just like in python you can write: arm.get_position(…).

[mithilra]

@Wessel yess, thats what im looking for. thanks for clearifying.
@jane, I want to use the current tool coordinates in a conditional statement.

IF( z coordinate > .20)…

[Daniel]

Got it, we will look into it to see if we could add this feature to Blockly by the next main update.

[mithilra]

Hi Daniel,
Could you get in touch with me by mail.
mithilra@buffalo.edu
I have some more thoughts on essential features that could be inducted.

Thanks.

[Daniel]

Hi,
I did send the Email, please check.
My Email is daniel.wang@ufactory.cc

Thanks

[Antoine_Bajolle]

Hi dear UFactory team,

Is this available yet in Blockly?
I also am interested to have the joint coordinate to test where the robot position is, and depending on that initiate a different homing sequence. Something as per below:

if((J1<=130) && (J1>=90))
{
//Homing sequence 1
}
else if((J1<=89) && (J1>=40))
{
//Homing sequence 2
}
else
{
//Homing sequence 3
}

[Minna]

Hi Antoine,

It is not supported in Blockly. Please use the python/C++ code to achieve it.

Best regards,
Minna

[Antoine_Bajolle]

Hi dear Minna,

Ok thank you for the answer, then I will rely on the implementation of the “Python function” blockly to do that.
https://forum.ufactory.cc/t/blockly-support-in-sdk/2961/5

Kind regards,

Antoine

[Blake]

I had the same problem recently and I’m trying to fix it, very useful to share