SET STOP(3)

NAME
SET_STOP, SET_STOP_ALL -- RCI CHG macros to stop the robot.

USAGE
#include <rci.h>

SET_STOP(rbt, jnt)
   RCI_RBT *rbt;
   int jnt;

SET_STOP_ALL(rbt)
   RCI_RBT *rbt;

ARGUMENTS

rbt --
    Pointer to RCI robot structure.

jnt --
    Robot joint number.

DESCRIPTION
These macros stop the current robot motion at wherever it currently happens to be. They may be called from any part of an RCI program. The difference between executing one of these macros and doing a MOVE_ENCODER() or MOVE_ANGLE() to the present position is slight, except for the fact that one does not have to refer to the current position here, and the robot control algorithm may respond to a "stop" command differently than it does to a "move" command. These macros also cause the angSet and encSet fields of the HOW structure to be updated to the observed robot position.

SET_STOP() causes the robot jnt to stop during the next control cycle. This command will override all previous motion commands given to jnt during the same cycle.

SET_STOP_ALL() causes all robot joints to stop during the next control cycle. This command will override all other motion request commands entered during the same cycle.

SEE ALSO
CHG(3), HOW(3).