How to send value from Globel Tabel to Robot Motion Paths.

[anutt_k]

[ FlexSim 22.2.0 ]

Hello.

When I have some Globle Tabel for collect the value of Joint. How i can use the value in Tabel to create a Motion paths. Than So much for guid me.

[moehlmann_fe · Accepted solution]

You can copy the values from the Global Table over into the robot's attribute tree with code. (Replace RobotName and PathName with the respective names)

Table pathtable = Model.find("RobotName>variables/pathtables/PathName/table");
for(int row = 1; row <= pathtable.numRows; row++)
{
    for(int col = 1; col <= 6; col++)
    {
        pathtable[row][col] = Table("GlobalTable1")[row][col];
    }
}

I assume you want to do this to change the paths of many robots at once (because otherwise I don't see a reason to not make the changes directly in the path GUI).

For this, another way would be to copy the entire 'pathtables' node from one robot on which you do the changes to all others. To reference the robots you could put them in a group together.

The following code would copy the path data from the first robot in the group "Robots" to all others in the same group.

treenode pathtable_first = Group("Robots")[1].find(">variables/pathtables");
for(int i = 2; i <= Group("Robots").length; i++)
{
    treenode pathtable_current = Group("Robots").find(">variables/pathtables");
    createcopy(pathtable_first, pathtable_current, 1, 0, 0, 1);
}

[anutt_k]

Thank You! I'll try to implement your advice.