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visose / Robots

Create and simulate ABB, KUKA, UR, and Staubli robot programs.
MIT License
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Fixes "XML tag 'Tool is missing 'Tcp tag" #164

Closed lin-ycv closed 2 years ago

lin-ycv commented 2 years ago

changed TCP to Tcp to match plugin tag changed DI and DO to start from 0 so slider and SRC would be the same value

visose commented 2 years ago

Hi, are you sure about adding the "0" IOs? I think KUKAs start at 1, so the controller's first output is 1, not 0. And in the plugin, since Grasshopper is index 0 based, you would use index 0 to select the DO 1. A bit confusing, I know.

lin-ycv commented 2 years ago

Yes, kuka start at 1, but I don't think that's an issue, we chooses our IO setting base on what we see on the controller, so it's much more intuitive to use 27 if we see 27. And since the controller would never show IO 0, there's no issues there.

visose commented 2 years ago

I could add flag on the DO component to to switch between zero based and the controller's numbering.

visose commented 2 years ago

I added the "useControllerNumbering" optional attribute to the IO element. This allows you to use the signal numbers directly in components like SetDO, WaitDI, etc. and ignores any IO names specified in the xml. This will work with KUKA, UR and Staubli, not with ABB, as it requires signal names.