## I can't drive my robot arm by thread script

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xiemzuo
Posts: 10
Joined: 29 Nov 2017, 01:52

### I can't drive my robot arm by thread script

Hello

I'm trying to drive my by using the following code(It is a thread script):

Code: Select all

``````-- Set-up some of the RML vectors:
vel=20
accel=10
jerk=10
currentVel={0,0,0,0}
currentAccel={0,0,0,0}
maxVel={vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180}
maxAccel={accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180}
maxJerk={jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180}
targetVel={0,0,0,0}

targetPos1={90*math.pi/180,60*math.pi/180,90*math.pi/180,-90*math.pi/180}
simRMLMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos1,targetVel)

targetPos2={-90*math.pi/180,-60*math.pi/180,-90*math.pi/180,90*math.pi/180}
simRMLMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos2,targetVel)

targetPos3={0,0,0,0}
simRMLMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos3,targetVel)``````
I did this as the "PhantomXPincher",but i can't control it.Can you tell me what's wrong with mine.
This is my file "https://1drv.ms/u/s!AmNQPbMfN-sCapGY7IhuumVKyLc"
Thank you very much
Mingzuo

coppelia