Hi folks, me and @MattiaDeiRossi are trying to write a function in our controller to handle errors that requires the acknoledge button from but we want to implement it via software (so the robot State variable goes to E-STOP state).
i'm useing the robot-control implemented in python and i use the Motorcortex Robot App - 6Axis Anthropomorphic - 3 Additional Axes - 2024.0.
From E-STOP state i can reach the OFF state with the RESET_ESTOP_T, but after that i can't go to the idle state and so i can't reach the Engaged state to give new instructions to my robot.
I'm programming in python and the function it is the sequent :
"@with_asyncio()
async def rearm_callback(self, request, response):
self.get_logger().info("Rearming the robot")
if self._mcx_req.setParameter(self._mcx_paths["guiFaultAcknowledge"], True).get():
self.get_logger().info("Fault acknowledged")
else:
self.get_logger().error("Failed to acknowledge fault")
response.success = False
response.message = "Failed to acknowledge fault"
if self.robot.engage():
self.get_logger().info("Robot re-engaged")
response.success = True
response.message = "Rearmed successfully"
else:
self.get_logger().error("Failed to re-engage robot")
response.success = False
response.message = "Failed to rearm"
return response".
and i follow the machine state given by yours :
g1220-1100-00-smd-r03-state-machine-diagram.pdf
what kind of transiction/function/variable-from.the-desk should i execute/modify to repeat the same
behavior i see from the GUI???????!!!!
