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Detect moving motors
#1
I'm controlling few motors in a robot using Power PMAC and I want to find a way to detect when the robot is idle and when it is moving, I used Coord[x].InPos in the testing and it seems to be doing what I need but I'm not sure if this is the correct way of detecting idle motors, or is there a better way to do it.
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#2
You could also check Coord[x].DesVelZero. Instead of waiting for the following error to drop like InPos, it will go true as soon as the commanded trajectory stops moving.
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