teachdemo(1)

NAME
teachdemo -- program to exercise the RCCL teach routine.

USAGE
teachdemo [<robotName>] [-sim[=<simaddr>]] [-on] [-f <filename>]

DESCRIPTION
This program is just an exerciser for the routine rcclTeach(). It allows the user to move the robot around using commands entered from either the teach pendant or the keyboard.

rcclTeach() is called in a loop. When the routine returns, its return value is checked. If the return value is 1, this means that either the pendant <RECORD> button was pressed, or the record command was entered from the keyboard. In this case, the recorded position is printed and rcclTeach() is called again. If the routine returns 0, this means that the return command was entered from the keyboard, and so the program exits.

The actual operation of the teach routine is described in the manual page rcclTeach(3).

ARGUMENTS

robotName --
    Name of the robot to control. If absent, the name is obtained from the system file $RCCL/conf/defaultRobot.

-sim --
    Causes the program to be run in simulator mode, in which case it will attempt to connect to a robot simulator program (see robotsim) instead of connecting to a real robot.

    If unqualified, the -sim option causes the program to seek a simulator running on the same machine under the same user name. A different simulator can be specified by adding an address string <simaddr>, as in -sim=<simaddr>. For the format of this address string, see simAddress(5).

-on --
    Leave the robot arm power on after the program has exited.

-f <filename> --
    Write the T6 and joint values of the recorded positions out to the file specified by <filename>.

SEE ALSO
rcclTeach(3).