CDRFLEx.check_force_condition

Features

This function checks the status of the given force. It disregards the force direction and only compares the sizes. This condition can be repeated with the while or if statement. Measuring the force, eForceAxis is based on the ref coordinate(eTargetRef) and measuring the moment, eForceAxis is based on the tool coordinate.

Parameter

Parameter Name	Data Type	Default Value	Description
eForceAxis	enum.FORCE_AXIS	-	Refer to the Definition of Constant and Enumeration Type
fTargetMin	float	-	Minimum value
fTargetMax	float	-	Maximum value
eForceReference	enum.COORDINATE_SYSTEM	COORDINATE_SYSTEM_TOOL	Refer to the Definition of Constant and Enumeration Type

Return

Value	Description
1	The condition is True
0	The condition is False

Example

CPP

bool fcon1 = Drfl.check_force_condition(FORCE_AXIS_Z, 5, 10, COORDINATE_SYSTEM_WORLD);
bool fcon2;
bool pcon1;
while(true){
    fcon2 = Drfl.check_force_condition(FORCE_AXIS_C, 30, -10000);
    pcon1 = Drfl.check_position_condition_abs(FORCE_AXIS_X, 0, 0.1);
    if(fcon2 && pcon1)
    {
        break;
    }
}