Got it half way, only problem remains is how to I take - sign account?
I use SetJointRotationMode command to determine rotation direction.
But I need to distingt between -0. and 0..
-0. will rotate CCW to 0 degrees and 0. will rotate CW to 0 degrees.
Sign determines rotation direction.
I modifyid C adress to check rotation direction.
So any ideas how can I take this account?
I might be wrong, but would the mode "normal" do what you like?
With mode normal the joint behaves like a standard linear axis.
I need to switch mode with RTCP
I use SetJointRotationMode but when I go from "shortcut" to "normal" if the current value of my axis is negative, it is transformed into an absolute value.
Example: if my axis is oriented at -90 °, its value becomes 270 °.
Is there a way to avoid this?
in the continuation of the programe there is again a C-90 so the plate makes a complete turn.
I wonder if that might be a separated topics of the previous one. If so a extra thread would be better.
But anyhow focus on your needs.
I would like to ask you to describe the behaviour you need before talking about which CSE kernel function to use.
I do see here different facts to clarify.
Looking froward to support you
in addition to SpaceToms description... you can influence the RTCP behavior by setup another interpolation type with CSE command 'SetInterpolationMode' (look into the cse doc to figure out which mode is needed)