SOLVE.FLAGS real-valued function SOLVE.FLAGS real-valued function Syntax SOLVE.FLAGS (joints[ index ]) Function Return bit flags representing the robot configuration specified by an array of joint positions. Usage Considerations The SOLVE.FLAGS function returns information for the robot selected by the task executing the function. If the eV+ system is not configured to control a robot, use of the SOLVE.FLAGS function causes an error. Parameters joints Real array that contains the robot joint positions. The first specified element of the array must contain the position for joint #1, the second element must contain the value for joint #2, etc.
For rotating joints, the joint positions are assumed to have units of degrees. For translational joints, the joint positions are assumed to have units of millimeters. index Optional real value, variable, or expression (interpreted as an integer) that identifies the array element that contains the position for joint #1. If no index is specified, element zero must contain the position for joint #1. Details This function returns bit flags that indicate the configuration of the robot (for example, RIGHTY or LEFTY) for a given set of joint positions. This function is useful for providing the configuration data required by the SOLVE.ANGLES program instruction.
The bits of the value returned by this function are interpreted as follows: Bit 1 (LSB) RIGHTY (mask value = 1) If this bit is set, the position has the robot in a right-arm configuration. Otherwise, the position is for a left-arm configuration. Bit 2 BELOW (mask value = 2) eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 487