├── .gitignore
├── API.md
├── LICENSE
├── README.md
├── examples
    ├── webjoystick.htm
    ├── webpanel.htm
    ├── webpanel430ia.htm
    └── webtouchpad.htm
├── karel
    ├── webabort.kl
    ├── webcheck.kl
    ├── webcontrol.kl
    ├── webkeep.kl
    ├── weblimit.kl
    ├── webmonitor.kl
    ├── webprogram.kl
    ├── webreset.kl
    ├── webstart.kl
    └── webstop.kl
├── preview.png
├── preview2.png
├── register.md
└── tpe
    └── webmotion.ls


/.gitignore:
--------------------------------------------------------------------------------
1 | *.tp
2 | *.pc
3 | 


--------------------------------------------------------------------------------
/API.md:
--------------------------------------------------------------------------------
  1 | #  fanuc-webcontrol API
  2 | ____
  3 | 
  4 | ##  Send coordinates to the robot
  5 | 
  6 | * **URL**
  7 | 
  8 |   `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`
  9 | 
 10 | * **Method:**
 11 | 
 12 |   `GET`
 13 |   
 14 | * **URL Params**
 15 | 
 16 |   **Required:**
 17 |    
 18 |   `mtn_mod=[INTEGER]`
 19 |   
 20 |   `coord1=[REAL]`
 21 |   
 22 |   `coord2=[REAL]`
 23 |   
 24 |   `coord3=[REAL]`
 25 |   
 26 |   `coord4=[REAL]`
 27 |   
 28 |   `coord5=[REAL]`
 29 |   
 30 |   `coord6=[REAL]`
 31 |   
 32 | * **Data Params**
 33 | 
 34 |   mtn_mod value is valid from `1` to `6`:
 35 |   
 36 |   `1`: Absolute motion in joint space with joint interpolation
 37 |   
 38 |   `2`: Relative motion in joint space with joint interpolation
 39 |   
 40 |   `3`: Absolute motion in Chartesian space with linear interpolation
 41 |   
 42 |   `4`: Absolute motion in Chartesian space with joint interpolation
 43 |   
 44 |   `5`: Relative motion in Chartesian space with linear interpolation
 45 |   
 46 |   `6`: Relative motion in Chartesian space with joint interpolation
 47 | 
 48 | * **Success Response:**
 49 | 
 50 |   * Code: 204
 51 | 
 52 | ##  Get data from the controller
 53 | 
 54 | * **URL**
 55 | 
 56 |   `/KAREL/webmonitor`
 57 | 
 58 | * **Method:**
 59 | 
 60 |   `GET`
 61 | 
 62 | * **Success Response:**
 63 | 
 64 |   * JSON object:
 65 | 
 66 |         {
 67 | 
 68 |           "robotid": [ "id " ], 
 69 | 		  
 70 | 		  "joint": [ J1, J2, J3, J4, J5, J6 ], 
 71 | 
 72 |           "pose": [ X, Y, Z, W, P, R ], 
 73 | 
 74 |           "limit": [ xMax, yMax, zMax, xMin, yMin, zMin, j1Max, j2Max, j3Max, j4Max, j5Max, j6Max, j1Min, j2Min, j3Min, j4Min, j5Min, j6Min ] , 
 75 | 
 76 |           "status": [ 0, 1 ] , 
 77 | 
 78 |           "message": [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ],
 79 | 		  
 80 | 		  "timestamp": ["time " ],
 81 | 
 82 |           "error": [ 0,"R E S E T " ] 
 83 | 
 84 |         }
 85 | 
 86 | 	**id**: [ Get the robot controller ID from `$FNO` `[STRING]` ]
 87 | 	
 88 |     `J1, J2, J3, J4, J5, J6=[REAL]`
 89 | 	
 90 | 	`X, Y, Z, W, P, R=[REAL]`
 91 | 	
 92 | 	`xMax, yMax, zMax, xMin, yMin, zMin=[REAL]`
 93 | 	
 94 | 	**status**: [ a task running (true(`1`)/false(`0`)) `[INTEGER]`, webmotion running (true(`1`)/false(`0`)) `[INTEGER]`]
 95 | 	
 96 | 	**message**: [ position reachable or not (true(`1`)/false(`0`)) `[INTEGER]`, x limit stop (max(`3`)/min(`6`)) `[INTEGER]`, y limit stop (max(`3`)/min(`6`)) `[INTEGER]`, z limit stop (max(`3`)/min(`6`)) `[INTEGER]`, j1 limit stop (max(`3`)/min(`6`)) `[INTEGER]`, j2 limit stop (max(`3`)/min(`6`)) `[INTEGER]`, j3 limit stop (max(`3`)/min(`6`)) `[INTEGER]`, j4 limit stop (max(`3`)/min(`6`)) `[INTEGER]`, j5 limit stop (max(`3`)/min(`6`)) `[INTEGER]`, j6 limit stop (max(`3`)/min(`6`)) `[INTEGER]` ]
 97 | 	
 98 | 	**timestamp**: [ The current time from within the KAREL system `[STRING]` ]
 99 | 	
100 | 	**error**: [ error code `[INTEGER]`, error string `[STRING]` ]
101 | 	
102 | ##  Set the motion limits
103 | 
104 | * **URL**
105 | 
106 |   `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`
107 | 
108 | * **Method:**
109 | 
110 |   `GET`
111 | 
112 | * **URL Params**
113 | 
114 |   **Required:**
115 |   
116 |   `limit_id=[INTEGER]`
117 |   
118 |   `limit_vl=[REAL]`
119 | 
120 | * **Data Params**
121 | 
122 |   `limit_id` is valid from `1` to `6`, `11` to `16` and `21` to `26` :
123 |   
124 |   `1`: x max,
125 | 
126 |   `2`: y max,
127 | 
128 |   `3`: z max,
129 | 
130 |   `4`: x min,
131 | 
132 |   `5`: y min,
133 | 
134 |   `6`: z min,
135 |   
136 |   `11`: j1 max,
137 | 
138 |   `12`: j2 max,
139 | 
140 |   `13`: j3 max,
141 | 
142 |   `14`: j4 max,
143 | 
144 |   `15`: j5 max,
145 | 
146 |   `16`: j6 max,
147 | 
148 |   `21`: j1 min,
149 | 
150 |   `22`: j2 min,
151 | 
152 |   `23`: j3 min,
153 | 
154 |   `24`: j4 min,
155 | 
156 |   `25`: j5 min,
157 | 
158 |   `26`: j6 min,
159 | 
160 | * **Success Response:**
161 | 
162 |   * Code: 204
163 | 
164 | ##  Run a KAREL program on the controller
165 | 
166 | * **URL**
167 | 
168 |   `/KAREL/karel_program_name`
169 | 
170 | * **Method:**
171 | 
172 |   `GET`
173 |   
174 | * **URL Params**
175 | 
176 |   Default KAREL programs:
177 | 
178 |   `webabort`:
179 |     * Abort all task to run on the controller (except the tasks that have the `ignore abort request` attribute set),
180 |     * Set the current positions in PR[40] (joint) and PR[41] (Chartesian),
181 |     * Set flags OFF from 1 to 8,
182 |     * Set the R[42] (safety motion register) to 999,
183 |     * Clear webmonitor KAREL program from the memory
184 |   
185 |   `webcheck`:
186 |     * Check the position is reachable
187 |     * Check the position is in the limits
188 |     * Check the safety motion register value
189 |   
190 |   `webcontrol`:
191 |     * Set the required position to the proper position register
192 |     * Set the proper motion mode flag ON
193 | 
194 |   `webkeep`
195 |     * Reset the safety motion register value
196 | 
197 |   `weblimit`
198 |     * Set the XYZ limits 
199 | 
200 |   `webmonitor`
201 |     * Get current coordinates (joint and Chartesian), limit, status, message and error
202 | 
203 |   `webprogram`
204 |     * Get the program list from the controller
205 |   
206 |   `webreset`
207 |     * Reset the robot controller and abort all task on the controller (except the tasks that have the `ignore abort request` attribute set)
208 | 
209 |   `webstart`
210 |     * Run the specified task
211 |   
212 |   `webstop`
213 |     * Stop the webmotion program
214 | 
215 | * **Success Response:**
216 | 
217 |   * Code: 204
218 | 
219 | ##  Run a TP program on the controller
220 | 
221 | * **URL**
222 | 
223 |   `/KAREL/webstart?str_task=${task}`
224 | 
225 | * **Method:**
226 | 
227 |   `GET`
228 |   
229 | * **URL Params**
230 | 
231 |   **Required:**
232 |    
233 |   `task=[STRING]`
234 | 
235 | * **Data Params**
236 | 
237 |   The `task` is the TP program name. The default TP program:
238 | 
239 |   `webmotion`
240 | 
241 | * **Success Response:**
242 | 
243 |   * Code: 204


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2017 Antal Bejczy Center for Intelligent Robotics
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # fanuc-webcontrol
 2 | 
 3 | ## Overview
 4 | Simple software to control FANUC six degree of freedom robotic arms through a web browser.
 5 | This version is used to robot controller software 7.30x or above.
 6 | If the robot controller version is 7.20x then use the [FANUC WEBCONTROL LEGACY](https://github.com/ABC-iRobotics/fanuc-webcontrol-legacy) version
 7 | 
 8 | ![Image of fanuc-webcontrol](preview.png)
 9 | 
10 | **NOTE**: It is an experimental software. Do not use this in production systems!
11 | 
12 | THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY WARRANTY. IT IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE SOFTWARE IS WITH YOU. SHOULD THE SOFTWARE PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
13 | 
14 | ## TOC
15 | 1. [Requirements](#requirements)
16 | 2. [Installation](#installation)
17 | 3. [Configuration](#configuration)
18 | 4. [Example usage](#example-usage)
19 | 5. [Notes](#notes)
20 | 6. [Acknowledgement](#acknowledgement)
21 | 7. [Bugs, feature requests, etc](#bugs-feature-requests-etc)
22 | 
23 | ## Requirements
24 | This is written in FANUC KAREL language, TP code and JavaScript. It is tested on a FANUC M-430iA2P robot with R-J3iC controller v7.40
25 | 
26 | The following registers [R], position registers[PR] and FLAGs are used:
27 | - [R]: [See Register page](register.md),
28 | - [PR]: 40, 41,
29 | - FLAG: 1 - 8,
30 | 
31 | If these (position) registers and/or flags are not free, than you can choose anothers, but you have to update these numbers in the karel programs and the `webmotion.tp` file.
32 | 
33 | Internet connection is also required because the Bootstrap, PEP and JQuery libraries are loaded from CDNs.
34 | 
35 | ## Installation
36 | 
37 | 1. Build the `*.kl` files in the `karel` folder with Roboguide and copy them to the robot `MD:` folder
38 | 2. Copy the `*.htm` file from the `examples` folder to the robot `MD:` folder
39 | 3. Copy the `webmotion.ls` file from the `tpe` folder to the robot `MD:` folder
40 | 
41 | ## Configuration
42 | Set UNLOCK to HTTP authentication of KAREL: 
43 | 1. On the Teach Pendant select `Menu -> Setup -> Host Comm`
44 | 2. Set the cursor on `HTTP`
45 | 3. Push `F3[DETAIL]`
46 | 4. Set the cursor on `A` left side of KAREL. Select `F3[UNLOCK]`
47 | 
48 | ## Example usage
49 | 
50 | Run the WEBMOTION TP program on the controller or open a browser and type: http://robotIP/md/webpanel.htm and click on the `Start` button (`Reset` may be needed before it)
51 | - SET: 
52 |   * Set the axis limits. The default values are 0, thus you have to change these to make possible any movement.
53 |   * Move the TCP to a predefined position (Click on a button, and wait until the robot completes the movement.) **Important: SEE NOTE No.2**
54 | - JOG: Jogging the robot (Push and hold down a button, but only use just one at the same time!)
55 | - CART: Move the TCP +/-xyz direction and/or rotate it in the currently selected tool coordinate system. (Push and hold down a button, but only use just one at the same time!)
56 | - Webjoystick: http://robotIP/md/webjoystick.htm
57 | - Webtouchpad: http://robotIP/md/webtouchpad.htm
58 | 
59 | ## Notes
60 | 1. You can change the default steps (1 degree, 3 mm) in the JavaScript part of the `webpanel.htm`. In this case you may also have to update the `setInt` variable in this file.
61 | 2. The predefined positions are zero. However there is example for FANUC M-430iA2P. If you have an other type of FANUC robot, you should change these positions' coordinates.
62 | 3. The PR[40] and PR[41] contain the movements coordinates. In these the UF:F and UT:F. This means that the coordinate system of the tool coordinate system number currently selected is used.
63 | 
64 | ## API
65 |   [See API page](API.md)
66 | 
67 | ## Acknowledgement
68 | We acknowledge the financial support of this work by the Hungarian State and the European Union under the  EFOP-3.6.1-16-2016-00010 project.
69 | 
70 | ## Bugs, feature requests, etc
71 | Please use the [GitHub issue tracker][].
72 | 
73 | [GitHub issue tracker]: https://github.com/ABC-iRobotics/fanuc-webcontrol/issues


--------------------------------------------------------------------------------
/examples/webjoystick.htm:
--------------------------------------------------------------------------------
  1 | <html>
  2 | <head>
  3 |   <title>WEBJOYSTICK</title>
  4 |   <meta charset="utf-8">
  5 |   <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
  6 |   <script src="https://ajax.googleapis.com/ajax/libs/jquery/3.2.1/jquery.min.js"></script>
  7 |   <script src="http://rawgit.com/jeromeetienne/virtualjoystick.js/master/virtualjoystick.js"></script>
  8 |   <link href="https://fonts.googleapis.com/css?family=Oswald:400" rel="stylesheet">
  9 |   <style>
 10 |     body {
 11 |       overflow: hidden;
 12 |       padding: 0;
 13 |       margin: 0;
 14 |       background-color: #000000;
 15 |     }
 16 |     #joystick-info {
 17 |       position: absolute;
 18 |       top: 0px;
 19 |       width: 100%;
 20 |       padding-top: 5px;
 21 |       text-align: center;
 22 |       color: #428bca;
 23 |       font-family: 'Oswald', sans-serif;
 24 |       font-size: 27px;
 25 |     }
 26 |     #joystick-container {
 27 |       width: 100%;
 28 |       height: 100%;
 29 |       overflow: hidden;
 30 |       padding: 0;
 31 |       margin: 0;
 32 |       -webkit-user-select: none;
 33 |       -moz-user-select: none;
 34 |     }
 35 |   </style>
 36 | </head>
 37 | <body oncontextmenu="return false;">
 38 | 
 39 |   <div id="joystick-info"></div>
 40 |   <div id="joystick-container"></div>
 41 | 
 42 |   <script>
 43 | 
 44 |     $(document).ready(function() {
 45 | 
 46 |       var refresh
 47 |       var direction  = document.getElementById('joystick-info');
 48 |       var joystick = new VirtualJoystick({ container: document.getElementById('joystick-container'), mouseSupport: true, })
 49 | 
 50 |       direction.innerHTML  = ' x / y rate: ' + (-1 * Math.round(joystick.deltaY()) / 10).toFixed(2) + ' / ' + (-1 * Math.round(joystick.deltaX()) / 10).toFixed(2)       
 51 | 
 52 |       // Send new relative direction
 53 | 
 54 |       function sendDirection(){
 55 |         direction.innerHTML  = ' x / y rate: ' + (-1 * Math.round(joystick.deltaY()) / 10).toFixed(2) + ' / ' + (-1 * Math.round(joystick.deltaX()) / 10).toFixed(2)       
 56 |         var mtn_mod = '5' 
 57 |         var coord1 = (-1 * Math.round(joystick.deltaY()) / 10).toFixed(2)
 58 |         var coord2 = (-1 * Math.round(joystick.deltaX()) / 10).toFixed(2)
 59 |         var coord3 = '0'
 60 |         var coord4 = '0'
 61 |         var coord5 = '0'
 62 |         var coord6 = '0'
 63 |         $.ajax({
 64 |           type: 'GET',
 65 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
 66 |           cache: false,
 67 |           success: function() {
 68 |             console.log('Touch is successfull send')
 69 |           }
 70 |         })
 71 |       }
 72 | 
 73 |       // Keep the motion
 74 | 
 75 |       function webkeep() {
 76 |         console.log('KEEP motion')
 77 |         $.ajax({
 78 |           type: 'GET',
 79 |           url: '/KAREL/webkeep',
 80 |           cache: false,
 81 |           success: function() {
 82 |             console.log('Send KEEP is successful')
 83 |           }
 84 |         })    
 85 |       }
 86 | 
 87 |       // Stop the motion
 88 | 
 89 |       function webstop() {
 90 |         console.log('STOP(999) motion')
 91 |         $.ajax({
 92 |           type: 'GET',
 93 |           url: '/KAREL/webstop',
 94 |           cache: false,
 95 |           success: function() {
 96 |             console.log('Send STOP(999) is successful')
 97 |           }
 98 |         })
 99 |       }
100 | 
101 |       // setInterval base
102 | 
103 |       function websetInt() {
104 |         sendDirection()
105 |         webkeep()
106 |       }
107 | 
108 |       // clearInterval
109 | 
110 |       function webclrInt() {
111 |         if (refresh !== undefined) {
112 |           clearInterval(refresh)
113 |           console.log('refresh is cleared')
114 |         } else {
115 |           console.log('refresh is undefined')
116 |         }
117 |       }
118 | 
119 |       // Start motion
120 | 
121 |       $('#joystick-container').on('mousedown touchstart', function() {
122 |         webclrInt()
123 |         refresh = setInterval(websetInt, 100)
124 |       }).on('mouseup touchend', function() {
125 |         webstop()
126 |         webclrInt()
127 |         direction.innerHTML  = ' x / y rate: ' + 0.00 + ' / ' + 0.00
128 |       })
129 | 
130 |     })
131 | 
132 |   </script>
133 | 
134 | </body>
135 | </html>


--------------------------------------------------------------------------------
/examples/webpanel.htm:
--------------------------------------------------------------------------------
   1 | <!DOCTYPE html>
   2 | <html>
   3 | <head>
   4 |   <title>WEBPANEL</title>
   5 |   <meta charset="utf-8">
   6 |   <meta name="viewport" content="width=device-width, initial-scale=1">
   7 |   <link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.7/css/bootstrap.min.css">
   8 |   <script src="https://ajax.googleapis.com/ajax/libs/jquery/3.2.1/jquery.min.js"></script>
   9 |   <script src="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.7/js/bootstrap.min.js"></script>
  10 |   <link href="https://fonts.googleapis.com/css?family=Oswald:300" rel="stylesheet">
  11 |   <style>
  12 |     body {
  13 |       background-color: #f8f8f8;
  14 |     }
  15 |     .ts-row-3px {
  16 |       padding-top: 3px;
  17 |     }
  18 |     .ts-row-5px {
  19 |       padding-top: 5px;
  20 |     }
  21 |     .ts-row-10px {
  22 |       padding-top: 10px;
  23 |     }
  24 |     .ts-row-15px {
  25 |       padding-top: 15px;
  26 |     } 	
  27 |     .ts-row-20px {
  28 |       padding-top: 20px;
  29 |     }    
  30 |     .ts-btn-90 {
  31 |       width: 90px;
  32 |     }
  33 |     .ts-btn-full {
  34 |       width: 100%;
  35 |     }
  36 |     .coord {
  37 |       color: #428bca;
  38 |       font-family: 'Oswald', sans-serif;
  39 |     }
  40 |     p {
  41 |       padding-top: 2px;
  42 |       font-size: 17px;
  43 |       padding-bottom: 0;
  44 |     }
  45 |     .screen-data {
  46 |       font-family: 'Oswald', sans-serif;
  47 |     }
  48 |   </style>
  49 | </head>
  50 | <body oncontextmenu="return false;">
  51 | 
  52 |   <div id="info-controller" class="container">
  53 |     <div class="ts-row-10px"></div>  
  54 |     <div class="row">
  55 |       <div class="col-xs-4 text-center">
  56 |         <p id="status" class="well well-sm screen-data">load...</p>
  57 |       </div>
  58 |       <div class="col-xs-8 text-center">
  59 |         <p id="message" class="well well-sm screen-data">load...</p>
  60 |       </div>
  61 |     </div>
  62 |     <div class="row">
  63 |       <div class="col-xs-12 text-center">
  64 |         <p id="error" class="well well-sm screen-data">load...</p>
  65 |       </div>
  66 |     </div>
  67 |   </div>
  68 | 
  69 |   <div id="info-jog" class="container">
  70 |     <div class="ts-row-5px"></div>
  71 |     <div class="row">
  72 |       <div class="col-xs-4 text-center">
  73 |         <p class="j1 coord well well-sm">load...</p>
  74 |       </div>
  75 |       <div class="col-xs-4 text-center">
  76 |         <p class="j2 coord well well-sm">load...</p>
  77 |       </div>
  78 |       <div class="col-xs-4 text-center">
  79 |         <p class="j3 coord well well-sm">load...</p>
  80 |       </div>
  81 |     </div>
  82 |     <div class="row">
  83 |       <div class="col-xs-4 text-center">
  84 |         <p class="j4 coord well well-sm">load...</p>
  85 |       </div>
  86 |       <div class="col-xs-4 text-center">
  87 |         <p class="j5 coord well well-sm">load...</p>
  88 |       </div>
  89 |       <div class="col-xs-4 text-center">
  90 |         <p class="j6 coord well well-sm">load...</p>
  91 |       </div>
  92 |     </div>
  93 |   </div>
  94 | 
  95 |   <div id="info-cart" class="container">
  96 |     <div class="row">
  97 |       <div class="col-xs-4 text-center">
  98 |         <p class="wx coord well well-sm">load...</p>
  99 |       </div>
 100 |       <div class="col-xs-4 text-center">
 101 |         <p class="wy coord well well-sm">load...</p>
 102 |       </div>
 103 |       <div class="col-xs-4 text-center">
 104 |         <p class="wz coord well well-sm">load...</p>
 105 |       </div>
 106 |     </div>
 107 |     <div class="row">
 108 |       <div class="col-xs-4 text-center">
 109 |         <p class="ww coord well well-sm">load...</p>
 110 |       </div>
 111 |       <div class="col-xs-4 text-center">
 112 |         <p class="wp coord well well-sm">load...</p>
 113 |       </div>
 114 |       <div class="col-xs-4 text-center">
 115 |         <p class="wr coord well well-sm">load...</p>
 116 |       </div>
 117 |     </div>
 118 |   </div>
 119 | 
 120 |   <div id="webprogram-run" class="container">
 121 |     <div class="ts-row-10px"></div>
 122 |     <div class="row text-center">
 123 |       <div class="col-sm-6 col-sm-offset-3 col-xs-12" id="runTask">
 124 |         <select class="form-control" id="selectTask"></select>
 125 |       </div>
 126 |     </div>
 127 |     <div class="ts-row-10px"></div>
 128 |     <div class="ts-row-10px"></div>
 129 |     <div class="ts-row-10px"></div>
 130 |     <div class="row text-center">
 131 |       <div class="col-sm-2 col-sm-offset-3 col-xs-4">
 132 |         <button type="button" id="webprogram-start" class="btn btn-info ts-btn-full">START</button>
 133 |       </div>
 134 |       <div class="col-sm-2 col-xs-4">
 135 |         <button type="button" class="btn ts-btn-full reset">RESET</button>
 136 |       </div>
 137 |       <div class="col-sm-2 col-xs-4">
 138 |         <button type="button" id="webmotion-join" class="btn btn-default ts-btn-full">JOIN</button>
 139 |       </div>
 140 |     </div>
 141 |     <div class="ts-row-10px"></div>
 142 |   </div>
 143 | 
 144 |   <div id="webprogram-control" class="container">   
 145 |     <div class="ts-row-20px"></div>   
 146 |     <div class="row text-center">
 147 |       <div class="col-xs-6 text-center">
 148 |         <button type="button" class="btn btn-danger ts-btn-full abort">ABORT</button>
 149 |       </div>
 150 |       <div class="col-xs-6 text-center">
 151 |         <button type="button" id="webcontrol-limit-set" class="btn btn-warning ts-btn-full">SET</button>
 152 |       </div> 	  
 153 |     </div>
 154 |     <div class="ts-row-10px"></div> 
 155 |   </div>
 156 | 
 157 |   <div id="webmotion-menu" class="container">
 158 |     <div class="row text-center">
 159 |       <div class="col-xs-4">
 160 |         <button type="button" id="webmotion-menu-jog" class="btn btn-warning ts-btn-full">JOG</button>
 161 |       </div>
 162 |       <div class="col-xs-4">
 163 |         <button type="button" id="webmotion-menu-cart" class="btn btn-primary ts-btn-full">CART</button>
 164 |       </div>
 165 |       <div class="col-xs-4">
 166 |         <button type="button" id="webmotion-menu-pose" class="btn btn-success ts-btn-full">POSE</button>
 167 |       </div>
 168 |     </div>
 169 |     <div class="ts-row-20px"></div>
 170 |     <div class="ts-row-5px"></div>
 171 |   </div>
 172 | 
 173 |   <div id="webmotion-jog" class="container">
 174 |     <div class="row text-center">
 175 |       <div class="col-xs-4">
 176 |         <button type="button" id="j1m" class="btn btn-warning ts-btn-90">J1-</button>
 177 |       </div>
 178 |       <div class="col-xs-4">
 179 |         <p class="j1 coord">load...</p>
 180 |       </div>
 181 |       <div class="col-xs-4">
 182 |         <button type="button" id="j1p" class="btn btn-warning ts-btn-90">J1+</button>
 183 |       </div>
 184 |     </div>
 185 |     <div class="row text-center ts-row-20px">
 186 |       <div class="col-xs-4">
 187 |         <button type="button" id="j2m" class="btn btn-warning ts-btn-90">J2-</button>
 188 |       </div>
 189 |       <div class="col-xs-4">
 190 |         <p class="j2 coord">load...</p>
 191 |       </div>
 192 |       <div class="col-xs-4">
 193 |         <button type="button" id="j2p" class="btn btn-warning ts-btn-90">J2+</button>
 194 |       </div>
 195 |     </div>
 196 |     <div class="row text-center ts-row-20px">
 197 |       <div class="col-xs-4">
 198 |         <button type="button" id="j3m" class="btn btn-warning ts-btn-90">J3-</button>
 199 |       </div>
 200 |       <div class="col-xs-4">
 201 |         <p class="j3 coord">load...</p>
 202 |       </div>
 203 |       <div class="col-xs-4">
 204 |         <button type="button" id="j3p" class="btn btn-warning ts-btn-90">J3+</button>
 205 |       </div>
 206 |     </div>
 207 |     <div class="row text-center ts-row-20px">
 208 |       <div class="col-xs-4">
 209 |         <button type="button" id="j4m" class="btn btn-warning ts-btn-90">J4-</button>
 210 |       </div>
 211 |       <div class="col-xs-4">
 212 |         <p class="j4 coord">load...</p>
 213 |       </div>
 214 |       <div class="col-xs-4">
 215 |         <button type="button" id="j4p" class="btn btn-warning ts-btn-90">J4+</button>
 216 |       </div>
 217 |     </div>
 218 |     <div class="row text-center ts-row-20px">
 219 |       <div class="col-xs-4">
 220 |         <button type="button" id="j5m" class="btn btn-warning ts-btn-90">J5-</button>
 221 |       </div>
 222 |       <div class="col-xs-4">
 223 |         <p class="j5 coord">load...</p>
 224 |       </div>
 225 |       <div class="col-xs-4">
 226 |         <button type="button" id="j5p" class="btn btn-warning ts-btn-90">J5+</button>
 227 |       </div>
 228 |     </div>
 229 |     <div class="row text-center ts-row-20px">
 230 |       <div class="col-xs-4">
 231 |         <button type="button" id="j6m" class="btn btn-warning ts-btn-90">J6-</button>
 232 |       </div>
 233 |       <div class="col-xs-4">
 234 |         <p class="j6 coord">load...</p>
 235 |       </div>
 236 |       <div class="col-xs-4">
 237 |         <button type="button" id="j6p" class="btn btn-warning ts-btn-90">J6+</button>
 238 |       </div>
 239 |     </div>
 240 |   </div>
 241 | 
 242 |   <div id="webmotion-cart" class="container">
 243 |     <div class="row text-center">
 244 |       <div class="col-xs-4">
 245 |         <button type="button" id="wmx" class="btn btn-primary ts-btn-90">X-</button>
 246 |       </div>
 247 |       <div class="col-xs-4">
 248 |         <p class="wx coord">load...</p>
 249 |       </div>
 250 |       <div class="col-xs-4">
 251 |         <button type="button" id="wpx" class="btn btn-primary ts-btn-90">X+</button>
 252 |       </div>
 253 |     </div>
 254 |     <div class="row text-center ts-row-20px">
 255 |       <div class="col-xs-4">
 256 |         <button type="button" id="wmy" class="btn btn-primary ts-btn-90">Y-</button>
 257 |       </div>
 258 |       <div class="col-xs-4">
 259 |         <p class="wy coord">load...</p>
 260 |       </div>
 261 |       <div class="col-xs-4">
 262 |         <button type="button" id="wpy" class="btn btn-primary ts-btn-90">Y+</button>
 263 |       </div>
 264 |     </div>
 265 |     <div class="row text-center ts-row-20px">
 266 |       <div class="col-xs-4">
 267 |         <button type="button" id="wmz" class="btn btn-primary ts-btn-90">Z-</button>
 268 |       </div>
 269 |       <div class="col-xs-4">
 270 |         <p class="wz coord">load...</p>
 271 |       </div>
 272 |       <div class="col-xs-4">
 273 |         <button type="button" id="wpz" class="btn btn-primary ts-btn-90">Z+</button>
 274 |       </div>
 275 |     </div>
 276 |     <div class="row text-center ts-row-20px">
 277 |       <div class="col-xs-4">
 278 |         <button type="button" id="wmw" class="btn btn-primary ts-btn-90">W-</button>
 279 |       </div>
 280 |       <div class="col-xs-4">
 281 |         <p class="ww coord">load...</p>
 282 |       </div>
 283 |       <div class="col-xs-4">
 284 |         <button type="button" id="wpw" class="btn btn-primary ts-btn-90">W+</button>
 285 |       </div>
 286 |     </div>
 287 |     <div class="row text-center ts-row-20px">
 288 |       <div class="col-xs-4">
 289 |         <button type="button" id="wmp" class="btn btn-primary ts-btn-90">P-</button>
 290 |       </div>
 291 |       <div class="col-xs-4">
 292 |         <p class="wp coord">load...</p>
 293 |       </div>
 294 |       <div class="col-xs-4">
 295 |         <button type="button" id="wpp" class="btn btn-primary ts-btn-90">P+</button>
 296 |       </div>
 297 |     </div>
 298 |     <div class="row text-center ts-row-20px">
 299 |       <div class="col-xs-4">
 300 |         <button type="button" id="wmr" class="btn btn-primary ts-btn-90">R-</button>
 301 |       </div>
 302 |       <div class="col-xs-4">
 303 |         <p class="wr coord">load...</p>
 304 |       </div>
 305 |       <div class="col-xs-4">
 306 |         <button type="button" id="wpr" class="btn btn-primary ts-btn-90">R+</button>
 307 |       </div>
 308 |     </div>
 309 |   </div>
 310 | 
 311 |   <div id="webmotion-pose" class="container">
 312 |     <div class="row text-center">
 313 |       <div class="col-xs-4">
 314 |         <p class="j1 coord">load...</p>
 315 |       </div>
 316 |       <div class="col-xs-4">
 317 |         <button type="button" id="pickup" class="btn btn-success ts-btn-90">Zero</button>
 318 |       </div>
 319 |       <div class="col-xs-4">
 320 |         <p class="wx coord">load...</p>
 321 |       </div>
 322 |     </div>
 323 |     <div class="row text-center ts-row-20px">
 324 |       <div class="col-xs-4">
 325 |         <p class="j2 coord">load...</p>
 326 |       </div>
 327 |       <div class="col-xs-4">
 328 |         <button type="button" id="zero" class="btn btn-success ts-btn-90">Zero</button>
 329 |       </div>
 330 |       <div class="col-xs-4">
 331 |         <p class="wy coord">load...</p>
 332 |       </div>
 333 |     </div>
 334 |     <div class="row text-center ts-row-20px">
 335 |       <div class="col-xs-4">
 336 |         <p class="j3 coord">load...</p>
 337 |       </div>
 338 |       <div class="col-xs-4">
 339 |         <button type="button" id="place" class="btn btn-success ts-btn-90">Zero</button>
 340 |       </div>
 341 |       <div class="col-xs-4">
 342 |         <p class="wz coord">load...</p>
 343 |       </div>
 344 |     </div>
 345 |     <div class="row text-center ts-row-20px">
 346 |       <div class="col-xs-4">
 347 |         <p class="j4 coord">load...</p>
 348 |       </div>
 349 |       <div class="col-xs-4">
 350 |         <button type="button" id="coord" class="btn btn-success ts-btn-90">Zero</button>
 351 |       </div>
 352 |       <div class="col-xs-4">
 353 |         <p class="ww coord">load...</p>
 354 |       </div>
 355 |     </div>
 356 |     <div class="row text-center ts-row-20px">
 357 |       <div class="col-xs-4">
 358 |         <p class="j5 coord">load...</p>
 359 |       </div>
 360 |       <div class="col-xs-4">
 361 |         <button type="button" id="show" class="btn btn-success ts-btn-90">Zero</button>
 362 |       </div>
 363 |       <div class="col-xs-4">
 364 |         <p class="wp coord">load...</p>
 365 |       </div>
 366 |     </div>
 367 |     <div class="row text-center ts-row-20px">
 368 |       <div class="col-xs-4">
 369 |         <p class="j6 coord">load...</p>
 370 |       </div>
 371 |       <div class="col-xs-4">
 372 |         <button type="button" id="touch" class="btn btn-success ts-btn-90">Zero</button>
 373 |       </div>
 374 |       <div class="col-xs-4">
 375 |         <p class="wr coord">load...</p>
 376 |       </div>
 377 |     </div>
 378 |   </div>
 379 | 
 380 |   <div id="webcontrol-set" class="container">
 381 |     <div class="row text-center">
 382 |       <div class="col-xs-4 ts-row-15px">
 383 |         <p id="xMax" class="coord">Load...</p>
 384 |       </div>
 385 |       <div class="col-xs-4 ts-row-15px">
 386 |         <p id="yMax" class="coord">Load...</p>
 387 |       </div>
 388 |       <div class="col-xs-4 ts-row-15px">
 389 |         <p id="zMax" class="coord">Load...</p>
 390 |       </div>
 391 |     </div>
 392 |     <div class="row text-center">
 393 |       <div class="col-xs-4">
 394 |         <button type="button" id="xMaxCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#xMaxSet">X max</button>
 395 |       </div>
 396 |       <div class="col-xs-4">
 397 |         <button type="button" id="yMaxCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#yMaxSet">Y max</button>
 398 |       </div>
 399 |       <div class="col-xs-4">
 400 |         <button type="button" id="zMaxCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#zMaxSet">Z max</button>
 401 |       </div>
 402 |     </div>
 403 |     <div class="row text-center">
 404 |       <div class="col-xs-4 ts-row-15px">
 405 |         <p id="xMin" class="coord">Load...</p>
 406 |       </div>
 407 |       <div class="col-xs-4 ts-row-15px">
 408 |         <p id="yMin" class="coord">Load...</p>
 409 |       </div>
 410 |       <div class="col-xs-4 ts-row-15px">
 411 |         <p id="zMin" class="coord">Load...</p>
 412 |       </div> 
 413 |     </div>
 414 |     <div class="row text-center">
 415 |       <div class="col-xs-4">
 416 |         <button type="button" id="xMinCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#xMinSet">X min</button>
 417 |       </div>
 418 |       <div class="col-xs-4">
 419 |         <button type="button" id="yMinCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#yMinSet">Y min</button>
 420 |       </div>
 421 |       <div class="col-xs-4">
 422 |         <button type="button" id="zMinCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#zMinSet">Z min</button>
 423 |       </div>
 424 |     </div>
 425 |     <div class="row text-center">
 426 |       <div class="col-xs-4 ts-row-15px">
 427 |         <p id="j1Max" class="coord">Load...</p>
 428 |       </div>
 429 |       <div class="col-xs-4 ts-row-15px">
 430 |         <p id="j2Max" class="coord">Load...</p>
 431 |       </div>
 432 |       <div class="col-xs-4 ts-row-15px">
 433 |         <p id="j3Max" class="coord">Load...</p>
 434 |       </div> 
 435 |     </div>
 436 |     <div class="row text-center">
 437 |       <div class="col-xs-4">
 438 |         <button type="button" id="j1MaxCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#j1MaxSet">J1 max</button>
 439 |       </div>
 440 |       <div class="col-xs-4">
 441 |         <button type="button" id="j2MaxCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#j2MaxSet">J2 max</button>
 442 |       </div>
 443 |       <div class="col-xs-4">
 444 |         <button type="button" id="j3MaxCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#j3MaxSet">J3 max</button>
 445 |       </div>
 446 |     </div>
 447 |     <div class="row text-center">
 448 |       <div class="col-xs-4 ts-row-15px">
 449 |         <p id="j1Min" class="coord">Load...</p>
 450 |       </div>
 451 |       <div class="col-xs-4 ts-row-15px">
 452 |         <p id="j2Min" class="coord">Load...</p>
 453 |       </div>
 454 |       <div class="col-xs-4 ts-row-15px">
 455 |         <p id="j3Min" class="coord">Load...</p>
 456 |       </div> 
 457 |     </div>
 458 |     <div class="row text-center">
 459 |       <div class="col-xs-4">
 460 |         <button type="button" id="j1MinCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#j1MinSet">J1 min</button>
 461 |       </div>
 462 |       <div class="col-xs-4">
 463 |         <button type="button" id="j2MinCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#j2MinSet">J2 min</button>
 464 |       </div>
 465 |       <div class="col-xs-4">
 466 |         <button type="button" id="j3MinCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#j3MinSet">J3 min</button>
 467 |       </div>
 468 |     </div>
 469 |     <div class="row text-center">
 470 |       <div class="col-xs-4 ts-row-15px">
 471 |         <p id="j4Max" class="coord">Load...</p>
 472 |       </div>
 473 |       <div class="col-xs-4 ts-row-15px">
 474 |         <p id="j5Max" class="coord">Load...</p>
 475 |       </div>
 476 |       <div class="col-xs-4 ts-row-15px">
 477 |         <p id="j6Max" class="coord">Load...</p>
 478 |       </div> 
 479 |     </div>
 480 |     <div class="row text-center">
 481 |       <div class="col-xs-4">
 482 |         <button type="button" id="j4MaxCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#j4MaxSet">J4 max</button>
 483 |       </div>
 484 |       <div class="col-xs-4">
 485 |         <button type="button" id="j5MaxCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#j5MaxSet">J5 max</button>
 486 |       </div>
 487 |       <div class="col-xs-4">
 488 |         <button type="button" id="j6MaxCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#j6MaxSet">J6 max</button>
 489 |       </div>
 490 |     </div>
 491 |     <div class="row text-center">
 492 |       <div class="col-xs-4 ts-row-15px">
 493 |         <p id="j4Min" class="coord">Load...</p>
 494 |       </div>
 495 |       <div class="col-xs-4 ts-row-15px">
 496 |         <p id="j5Min" class="coord">Load...</p>
 497 |       </div>
 498 |       <div class="col-xs-4 ts-row-15px">
 499 |         <p id="j6Min" class="coord">Load...</p>
 500 |       </div> 
 501 |     </div>
 502 |     <div class="row text-center">
 503 |       <div class="col-xs-4">
 504 |         <button type="button" id="j4MinCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#j4MinSet">J4 min</button>
 505 |       </div>
 506 |       <div class="col-xs-4">
 507 |         <button type="button" id="j5MinCh" class="btn btn-default ts-btn-90" data-toggle="modal" data-target="#j5MinSet">J5 min</button>
 508 |       </div>
 509 |       <div class="col-xs-4">
 510 |         <button type="button" id="j6MinCh" class="btn btn-info ts-btn-90" data-toggle="modal" data-target="#j6MinSet">J6 min</button>
 511 |       </div>
 512 |     </div>
 513 |     <div class="ts-row-10px"></div>
 514 |     <div class="row text-center">
 515 |       <div class="col-xs-12 ts-row-20px">
 516 |         <button type="button" id="webcontrol-limit-done" class="btn btn-success ts-btn-full">DONE</button>
 517 |       </div>
 518 |     </div>
 519 |     <div class="ts-row-10px"></div>
 520 |   </div>
 521 | 
 522 |   <div id="webmotion-control" class="container">
 523 |     <div class="ts-row-20px"></div>
 524 |     <div class="row text-center">
 525 |       <div class="col-xs-4 text-center">
 526 |         <button type="button" class="btn ts-btn-full reset">RESET</button>
 527 |       </div>
 528 |       <div class="col-xs-4 text-center">
 529 |         <button type="button" class="btn btn-danger ts-btn-full abort">ABORT</button>
 530 |       </div>
 531 |       <div class="col-xs-4 text-center">
 532 |         <button type="button" id="webmotion-start" class="btn btn-info ts-btn-full">START</button>
 533 |       </div>
 534 |     </div>
 535 |     <div class="ts-row-10px"></div>
 536 |   </div>
 537 | 
 538 |   <footer class="text-center">
 539 |     <small>&copy; Copyright 2017, &#211;buda University - <a href="http://irob.uni-obuda.hu">iROB</a></small>
 540 |   </footer>
 541 | 
 542 |   <!-- Modals -->
 543 | 
 544 |   <div id="xMaxSet" class="modal fade" role="dialog">
 545 |     <div class="modal-dialog">
 546 |       <div class="modal-content">
 547 |         <div class="modal-header">
 548 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 549 |           <p class="modal-title">Enter the new value</p>
 550 |           <span>(from -9999 to 9999)<span>
 551 |         </div>
 552 |         <div class="modal-body">
 553 |           <p>If you leave it empty the axis limit is maximized</p>
 554 |           <p>X max: <input type="number" id="xMaxNew" min="-9999" max="9999"></p>
 555 |           <p class="limitWarning" style="color:red">The limit is need to be between -9999 and 9999</p>
 556 |         </div>
 557 |         <div class="modal-footer">
 558 |           <button type="button" id="xMaxSave" class="btn btn-default">Save</button>
 559 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 560 |         </div>
 561 |       </div>
 562 |     </div>
 563 |   </div>
 564 | 
 565 |   <div id="yMaxSet" class="modal fade" role="dialog">
 566 |     <div class="modal-dialog">
 567 |       <div class="modal-content">
 568 |         <div class="modal-header">
 569 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 570 |           <p class="modal-title">Enter the new value</p>
 571 |           <span>(from -9999 to 9999)<span>
 572 |         </div>
 573 |         <div class="modal-body">
 574 |           <p>If you leave it empty the axis limit is maximized</p>
 575 |           <p>Y max: <input type="number" id="yMaxNew" min="-9999" max="9999"></p>
 576 |           <p class="limitWarning" style="color:red">The limit is need to be between -9999 and 9999</p>
 577 |         </div>
 578 |         <div class="modal-footer">
 579 |           <button type="button" id="yMaxSave" class="btn btn-default">Save</button>
 580 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 581 |         </div>
 582 |       </div>
 583 |     </div>
 584 |   </div>
 585 | 
 586 |   <div id="zMaxSet" class="modal fade" role="dialog">
 587 |     <div class="modal-dialog">
 588 |       <div class="modal-content">
 589 |         <div class="modal-header">
 590 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 591 |           <p class="modal-title">Enter the new value</p>
 592 |           <span>(from -9999 to 9999)<span>
 593 |         </div>
 594 |         <div class="modal-body">
 595 |           <p>If you leave it empty the axis limit is maximized</p>
 596 |           <p>Z max: <input type="number" id="zMaxNew" min="-9999" max="9999"></p>
 597 |           <p class="limitWarning" style="color:red">The limit is need to be between -9999 and 9999</p>
 598 |         </div>
 599 |         <div class="modal-footer">
 600 |           <button type="button" id="zMaxSave" class="btn btn-default">Save</button>
 601 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 602 |         </div>
 603 |       </div>
 604 |     </div>
 605 |   </div>
 606 | 
 607 |   <div id="xMinSet" class="modal fade" role="dialog">
 608 |     <div class="modal-dialog">
 609 |       <div class="modal-content">
 610 |         <div class="modal-header">
 611 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 612 |           <p class="modal-title">Enter the new value</p>
 613 |           <span>(from -9999 to 9999)<span>
 614 |         </div>
 615 |         <div class="modal-body">
 616 |           <p>If you leave it empty the axis limit is maximized</p>
 617 |           <p>X min: <input type="number" id="xMinNew" min="-9999" max="9999"></p>
 618 |           <p class="limitWarning" style="color:red">The limit is need to be between -9999 and 9999</p>
 619 |         </div>
 620 |         <div class="modal-footer">
 621 |           <button type="button" id="xMinSave" class="btn btn-default">Save</button>
 622 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 623 |         </div>
 624 |       </div>
 625 |     </div>
 626 |   </div>
 627 | 
 628 |   <div id="yMinSet" class="modal fade" role="dialog">
 629 |     <div class="modal-dialog">
 630 |       <div class="modal-content">
 631 |         <div class="modal-header">
 632 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 633 |           <p class="modal-title">Enter the new value</p>
 634 |           <span>(from -9999 to 9999)<span>
 635 |         </div>
 636 |         <div class="modal-body">
 637 |           <p>If you leave it empty the axis limit is maximized</p>
 638 |           <p>Y min: <input type="number" id="yMinNew" min="-9999" max="9999"></p>
 639 |           <p class="limitWarning" style="color:red">The limit is need to be between -9999 and 9999</p>
 640 |         </div>
 641 |         <div class="modal-footer">
 642 |           <button type="button" id="yMinSave" class="btn btn-default">Save</button>
 643 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 644 |         </div>
 645 |       </div>
 646 |     </div>
 647 |   </div>
 648 | 
 649 |   <div id="zMinSet" class="modal fade" role="dialog">
 650 |     <div class="modal-dialog">
 651 |       <div class="modal-content">
 652 |         <div class="modal-header">
 653 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 654 |           <p class="modal-title">Enter the new value</p>
 655 |           <span>(from -9999 to 9999)<span>
 656 |         </div>
 657 |         <div class="modal-body">
 658 |           <p>If you leave it empty the axis limit is maximized</p>
 659 |           <p>Z min: <input type="number" id="zMinNew" min="-9999" max="9999"></p>
 660 |           <p class="limitWarning" style="color:red">The limit is need to be between -9999 and 9999</p>
 661 |         </div>
 662 |         <div class="modal-footer">
 663 |           <button type="button" id="zMinSave" class="btn btn-default">Save</button>
 664 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 665 |         </div>
 666 |       </div>
 667 |     </div>
 668 |   </div>
 669 | 
 670 |   <div id="j1MaxSet" class="modal fade" role="dialog">
 671 |     <div class="modal-dialog">
 672 |       <div class="modal-content">
 673 |         <div class="modal-header">
 674 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 675 |           <p class="modal-title">Enter the new value</p>
 676 |           <span>(from -360 to 360)<span>
 677 |         </div>
 678 |         <div class="modal-body">
 679 |           <p>If you leave it empty the axis limit is maximized</p>
 680 |           <p>J1 max: <input type="number" id="j1MaxNew" min="-360" max="360"></p>
 681 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 682 |         </div>
 683 |         <div class="modal-footer">
 684 |           <button type="button" id="j1MaxSave" class="btn btn-default">Save</button>
 685 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 686 |         </div>
 687 |       </div>
 688 |     </div>
 689 |   </div>
 690 | 
 691 |   <div id="j2MaxSet" class="modal fade" role="dialog">
 692 |     <div class="modal-dialog">
 693 |       <div class="modal-content">
 694 |         <div class="modal-header">
 695 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 696 |           <p class="modal-title">Enter the new value</p>
 697 |           <span>(from -360 to 360)<span>
 698 |         </div>
 699 |         <div class="modal-body">
 700 |           <p>If you leave it empty the axis limit is maximized</p>
 701 |           <p>J2 max: <input type="number" id="j2MaxNew" min="-360" max="360"></p>
 702 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 703 |         </div>
 704 |         <div class="modal-footer">
 705 |           <button type="button" id="j2MaxSave" class="btn btn-default">Save</button>
 706 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 707 |         </div>
 708 |       </div>
 709 |     </div>
 710 |   </div>
 711 | 
 712 |   <div id="j3MaxSet" class="modal fade" role="dialog">
 713 |     <div class="modal-dialog">
 714 |       <div class="modal-content">
 715 |         <div class="modal-header">
 716 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 717 |           <p class="modal-title">Enter the new value</p>
 718 |           <span>(from -360 to 360)<span>
 719 |         </div>
 720 |         <div class="modal-body">
 721 |           <p>If you leave it empty the axis limit is maximized</p>
 722 |           <p>J3 max: <input type="number" id="j3MaxNew" min="-360" max="360"></p>
 723 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 724 |         </div>
 725 |         <div class="modal-footer">
 726 |           <button type="button" id="j3MaxSave" class="btn btn-default">Save</button>
 727 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 728 |         </div>
 729 |       </div>
 730 |     </div>
 731 |   </div>
 732 | 
 733 |   <div id="j4MaxSet" class="modal fade" role="dialog">
 734 |     <div class="modal-dialog">
 735 |       <div class="modal-content">
 736 |         <div class="modal-header">
 737 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 738 |           <p class="modal-title">Enter the new value</p>
 739 |           <span>(from -360 to 360)<span>
 740 |         </div>
 741 |         <div class="modal-body">
 742 |           <p>If you leave it empty the axis limit is maximized</p>
 743 |           <p>J4 max: <input type="number" id="j4MaxNew" min="-360" max="360"></p>
 744 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 745 |         </div>
 746 |         <div class="modal-footer">
 747 |           <button type="button" id="j4MaxSave" class="btn btn-default">Save</button>
 748 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 749 |         </div>
 750 |       </div>
 751 |     </div>
 752 |   </div>
 753 | 
 754 |   <div id="j5MaxSet" class="modal fade" role="dialog">
 755 |     <div class="modal-dialog">
 756 |       <div class="modal-content">
 757 |         <div class="modal-header">
 758 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 759 |           <p class="modal-title">Enter the new value</p>
 760 |           <span>(from -360 to 360)<span>
 761 |         </div>
 762 |         <div class="modal-body">
 763 |           <p>If you leave it empty the axis limit is maximized</p>
 764 |           <p>J5 max: <input type="number" id="j5MaxNew" min="-360" max="360"></p>
 765 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 766 |         </div>
 767 |         <div class="modal-footer">
 768 |           <button type="button" id="j5MaxSave" class="btn btn-default">Save</button>
 769 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 770 |         </div>
 771 |       </div>
 772 |     </div>
 773 |   </div>
 774 | 
 775 |   <div id="j6MaxSet" class="modal fade" role="dialog">
 776 |     <div class="modal-dialog">
 777 |       <div class="modal-content">
 778 |         <div class="modal-header">
 779 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 780 |           <p class="modal-title">Enter the new value</p>
 781 |           <span>(from -360 to 360)<span>
 782 |         </div>
 783 |         <div class="modal-body">
 784 |           <p>If you leave it empty the axis limit is maximized</p>
 785 |           <p>J6 max: <input type="number" id="j6MaxNew" min="-360" max="360"></p>
 786 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 787 |         </div>
 788 |         <div class="modal-footer">
 789 |           <button type="button" id="j6MaxSave" class="btn btn-default">Save</button>
 790 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 791 |         </div>
 792 |       </div>
 793 |     </div>
 794 |   </div>
 795 | 
 796 |   <div id="j1MinSet" class="modal fade" role="dialog">
 797 |     <div class="modal-dialog">
 798 |       <div class="modal-content">
 799 |         <div class="modal-header">
 800 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 801 |           <p class="modal-title">Enter the new value</p>
 802 |           <span>(from -360 to 360)<span>
 803 |         </div>
 804 |         <div class="modal-body">
 805 |           <p>If you leave it empty the axis limit is maximized</p>
 806 |           <p>J1 min: <input type="number" id="j1MinNew" min="-360" max="360"></p>
 807 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 808 |         </div>
 809 |         <div class="modal-footer">
 810 |           <button type="button" id="j1MinSave" class="btn btn-default">Save</button>
 811 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 812 |         </div>
 813 |       </div>
 814 |     </div>
 815 |   </div>
 816 | 
 817 |   <div id="j2MinSet" class="modal fade" role="dialog">
 818 |     <div class="modal-dialog">
 819 |       <div class="modal-content">
 820 |         <div class="modal-header">
 821 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 822 |           <p class="modal-title">Enter the new value</p>
 823 |           <span>(from -360 to 360)<span>
 824 |         </div>
 825 |         <div class="modal-body">
 826 |           <p>If you leave it empty the axis limit is maximized</p>
 827 |           <p>J2 min: <input type="number" id="j2MinNew" min="-360" max="360"></p>
 828 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 829 |         </div>
 830 |         <div class="modal-footer">
 831 |           <button type="button" id="j2MinSave" class="btn btn-default">Save</button>
 832 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 833 |         </div>
 834 |       </div>
 835 |     </div>
 836 |   </div>
 837 | 
 838 |   <div id="j3MinSet" class="modal fade" role="dialog">
 839 |     <div class="modal-dialog">
 840 |       <div class="modal-content">
 841 |         <div class="modal-header">
 842 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 843 |           <p class="modal-title">Enter the new value</p>
 844 |           <span>(from -360 to 360)<span>
 845 |         </div>
 846 |         <div class="modal-body">
 847 |           <p>If you leave it empty the axis limit is maximized</p>
 848 |           <p>J3 min: <input type="number" id="j3MinNew" min="-360" max="360"></p>
 849 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 850 |         </div>
 851 |         <div class="modal-footer">
 852 |           <button type="button" id="j3MinSave" class="btn btn-default">Save</button>
 853 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 854 |         </div>
 855 |       </div>
 856 |     </div>
 857 |   </div>
 858 | 
 859 |   <div id="j4MinSet" class="modal fade" role="dialog">
 860 |     <div class="modal-dialog">
 861 |       <div class="modal-content">
 862 |         <div class="modal-header">
 863 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 864 |           <p class="modal-title">Enter the new value</p>
 865 |           <span>(from -360 to 360)<span>
 866 |         </div>
 867 |         <div class="modal-body">
 868 |           <p>If you leave it empty the axis limit is maximized</p>
 869 |           <p>J4 min: <input type="number" id="j4MinNew" min="-360" max="360"></p>
 870 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 871 |         </div>
 872 |         <div class="modal-footer">
 873 |           <button type="button" id="j4MinSave" class="btn btn-default">Save</button>
 874 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 875 |         </div>
 876 |       </div>
 877 |     </div>
 878 |   </div>
 879 | 
 880 |   <div id="j5MinSet" class="modal fade" role="dialog">
 881 |     <div class="modal-dialog">
 882 |       <div class="modal-content">
 883 |         <div class="modal-header">
 884 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 885 |           <p class="modal-title">Enter the new value</p>
 886 |           <span>(from -360 to 360)<span>
 887 |         </div>
 888 |         <div class="modal-body">
 889 |           <p>If you leave it empty the axis limit is maximized</p>
 890 |           <p>J5 min: <input type="number" id="j5MinNew" min="-360" max="360"></p>
 891 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 892 |         </div>
 893 |         <div class="modal-footer">
 894 |           <button type="button" id="j5MinSave" class="btn btn-default">Save</button>
 895 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 896 |         </div>
 897 |       </div>
 898 |     </div>
 899 |   </div>
 900 | 
 901 |   <div id="j6MinSet" class="modal fade" role="dialog">
 902 |     <div class="modal-dialog">
 903 |       <div class="modal-content">
 904 |         <div class="modal-header">
 905 |           <button type="button" class="close" data-dismiss="modal">&times;</button>
 906 |           <p class="modal-title">Enter the new value</p>
 907 |           <span>(from -360 to 360)<span>
 908 |         </div>
 909 |         <div class="modal-body">
 910 |           <p>If you leave it empty the axis limit is maximized</p>
 911 |           <p>J6 min: <input type="number" id="j6MinNew" min="-360" max="360"></p>
 912 |           <p class="limitWarning" style="color:red">The limit is need to be between -360 and 360</p>
 913 |         </div>
 914 |         <div class="modal-footer">
 915 |           <button type="button" id="j6MinSave" class="btn btn-default">Save</button>
 916 |           <button type="button" class="btn btn-default limit-cancel" data-dismiss="modal">Close</button>
 917 |         </div>
 918 |       </div>
 919 |     </div>
 920 |   </div>
 921 | 
 922 |   <script>
 923 | 
 924 |     $(document).ready(function() {  
 925 | 
 926 |       var refresh
 927 |       var setInt = 50
 928 |       var enButVar
 929 |       var setTime = 100
 930 |       var axisLimit = 10000
 931 |       var jointLimit = 360
 932 |     
 933 |       $('#info-controller').show()
 934 |       $('#info-jog').show()
 935 |       $('#info-cart').show()
 936 |       $('#webprogram-run').show()
 937 |       $('#webprogram-control').show()
 938 |       $('#webmotion-menu').hide()
 939 |       $('#webmotion-jog').hide()
 940 |       $('#webmotion-cart').hide()
 941 | 	    $('#webmotion-pose').hide()
 942 |       $('#webmotion-control').hide()
 943 |       $('#webcontrol-set').hide()
 944 | 
 945 |       $('#webmotion-menu-jog').click(function() {
 946 |         $('#webmotion-jog').show()
 947 |         $('#webmotion-cart').hide()
 948 |         $('#webmotion-pose').hide()
 949 |       })     
 950 | 
 951 |       $('#webmotion-menu-cart').click(function() {
 952 |         $('#webmotion-jog').hide()
 953 |         $('#webmotion-cart').show()
 954 |         $('#webmotion-pose').hide()
 955 |       })
 956 | 
 957 |       $('#webmotion-menu-pose').click(function() {
 958 |         $('#webmotion-jog').hide()
 959 |         $('#webmotion-cart').hide()
 960 |         $('#webmotion-pose').show()
 961 |       })
 962 | 
 963 |       $.getJSON("/KAREL/webprogram", function(data) {
 964 | 
 965 |         $('#selectTask').html('')
 966 | 
 967 |         var notRelevant = '######'      
 968 | 
 969 |         for ( var i = 0; i < data.progs.length; i++ ) {
 970 |           if ( data.progs[i].indexOf(" TP") == -1 ) {
 971 |             data.progs[i] = notRelevant
 972 |           }
 973 |         }
 974 | 
 975 |         progList = jQuery.grep(data.progs, function(value) {
 976 |           return value != notRelevant;
 977 |         })
 978 | 
 979 |         for ( var i = 2; i < progList.length; i++ ) {
 980 |           //creates option tag and appends to select if parent div has id dropdown
 981 |           jQuery('<option/>', {value: progList[i], html: progList[i]}).appendTo('#runTask select')
 982 |           if ( progList[i].indexOf("WEBMOTION") >= 0 ) {
 983 |             $('#selectTask').val(progList[i])
 984 |           }
 985 |         }
 986 | 
 987 |       })
 988 | 
 989 |       getposj()
 990 | 
 991 |       function getposj() {
 992 | 
 993 |         $.getJSON("/KAREL/webmonitor", function(data) {
 994 | 
 995 |           // Show the current robot status
 996 | 
 997 |           $('#status').html(data.robotid[0])
 998 | 		  
 999 |           if (data.status[0] == 1) {
1000 |             $('#status').css("color", "#5cb85c")
1001 |             $('#selectTask').prop('disabled', true)
1002 |             $('#webprogram-start').prop('disabled', true)
1003 |             $('#webmotion-start').prop('disabled', true)
1004 |           } else {
1005 |             $('#status').css("color", "#428bca")
1006 |             $('#selectTask').prop('disabled', false)
1007 |             $('#webprogram-start').prop('disabled', false)
1008 |             $('#webmotion-start').prop('disabled', false)
1009 |           }
1010 | 
1011 |           if (data.status[0] == 1 && data.status[1] == 1) {
1012 |             $('#webmotion-join').prop('disabled', false)
1013 |           } else {
1014 |             $('#webmotion-join').prop('disabled', true)
1015 |           }
1016 | 
1017 |           // Show the messages
1018 | 
1019 |           if (data.message[0] == 1) {
1020 |             $('#message').html("Position not reachable")
1021 |             $('#message').css("color", "#d9534f")
1022 |           } else if (data.message[9] == 3) {
1023 |             $('#message').html("J6 max limit STOP")
1024 |             $('#message').css("color", "#d9534f")
1025 |           } else if (data.message[9] == 6) {
1026 |             $('#message').html("J6 min limit STOP")
1027 |             $('#message').css("color", "#d9534f")
1028 |           } else if (data.message[8] == 3) {
1029 |             $('#message').html("J5 max limit STOP")
1030 |             $('#message').css("color", "#d9534f")
1031 |           } else if (data.message[8] == 6) {
1032 |             $('#message').html("J5 min limit STOP")
1033 |             $('#message').css("color", "#d9534f")
1034 |           } else if (data.message[7] == 3) {
1035 |             $('#message').html("J4 max limit STOP")
1036 |             $('#message').css("color", "#d9534f")
1037 |           } else if (data.message[7] == 6) {
1038 |             $('#message').html("J4 min limit STOP")
1039 |             $('#message').css("color", "#d9534f")
1040 |           } else if (data.message[6] == 3) {
1041 |             $('#message').html("J3 max limit STOP")
1042 |             $('#message').css("color", "#d9534f")
1043 |           } else if (data.message[6] == 6) {
1044 |             $('#message').html("J3 min limit STOP")
1045 |             $('#message').css("color", "#d9534f")
1046 |           } else if (data.message[5] == 3) {
1047 |             $('#message').html("J2 max limit STOP")
1048 |             $('#message').css("color", "#d9534f")
1049 |           } else if (data.message[5] == 6) {
1050 |             $('#message').html("J2 min limit STOP")
1051 |             $('#message').css("color", "#d9534f")
1052 |           } else if (data.message[4] == 3) {
1053 |             $('#message').html("J1 max limit STOP")
1054 |             $('#message').css("color", "#d9534f")
1055 |           } else if (data.message[4] == 6) {
1056 |             $('#message').html("J1 min limit STOP")
1057 |             $('#message').css("color", "#d9534f")
1058 |           } else if (data.message[3] == 3) {
1059 |             $('#message').html("Z max limit STOP")
1060 |             $('#message').css("color", "#d9534f")
1061 |           } else if (data.message[3] == 6) {
1062 |             $('#message').html("Z min limit STOP")
1063 |             $('#message').css("color", "#d9534f")
1064 |           } else if (data.message[2] == 3) {
1065 |             $('#message').html("Y max limit STOP")
1066 |             $('#message').css("color", "#d9534f")
1067 |           } else if (data.message[2] == 6) {
1068 |             $('#message').html("Y min limit STOP")
1069 |             $('#message').css("color", "#d9534f")
1070 |           } else if (data.message[1] == 3) {
1071 |             $('#message').html("X max limit STOP")
1072 |             $('#message').css("color", "#d9534f")
1073 |           } else if (data.message[1] == 6) {
1074 |             $('#message').html("X min limit STOP")
1075 |             $('#message').css("color", "#d9534f")
1076 |           } else {
1077 |             $('#message').html("NO MESSAGE")
1078 |             $('#message').css("color", "#5cb85c")
1079 |           }
1080 | 
1081 |           // Show the robot controller's errors
1082 | 
1083 |           if (data.error[0] == 0) {
1084 |             $('#error').html("NO ERROR")
1085 |             $('#error').css("color", "#5cb85c")
1086 |           } else {
1087 |             $('#error').html(data.error[1])
1088 |             $('#error').css("color", "#d9534f")
1089 |           }
1090 | 
1091 |           // Show the current joint degree values
1092 |           
1093 |           for (i = 0; i <= 5; i++) {
1094 |             if (data.joint[i] == 10000) { 
1095 |               $('.j' + (i+1)).html('N/A')
1096 |               $('#j' + (i+1) + 'p').prop('disabled', true)
1097 |               $('#j' + (i+1) + 'm').prop('disabled', true)
1098 |             } else {
1099 |               $('.j' + (i+1)).html(Math.round(data.joint[i]) + '&#176;')
1100 |             }
1101 |           }
1102 | 
1103 |           // Show the current Cartesian values
1104 | 
1105 |           $('.wx').html(Math.round(data.pose[0]) + 'mm')
1106 |           $('.wy').html(Math.round(data.pose[1]) + 'mm')
1107 |           $('.wz').html(Math.round(data.pose[2]) + 'mm')
1108 |           $('.ww').html(Math.round(data.pose[3]) + '&#176;')
1109 |           $('.wp').html(Math.round(data.pose[4]) + '&#176;')
1110 |           $('.wr').html(Math.round(data.pose[5]) + '&#176;')
1111 | 
1112 |           // Show the current limit values
1113 | 
1114 |           if ( data.limit[0] >= axisLimit || data.limit[0] <= -axisLimit ) {
1115 |             $('#xMax').html('max')
1116 |           } else {
1117 |             $('#xMax').html(data.limit[0]) + ' mm'
1118 |           }
1119 | 
1120 |           if ( data.limit[1] >= axisLimit || data.limit[1] <= -axisLimit ) {
1121 |             $('#yMax').html('max')
1122 |           } else {
1123 |             $('#yMax').html(data.limit[1]) + ' mm'
1124 |           }
1125 | 
1126 |           if ( data.limit[2] >= axisLimit || data.limit[2] <= -axisLimit ) {
1127 |             $('#zMax').html('max')
1128 |           } else {
1129 |             $('#zMax').html(data.limit[2]) + ' mm'
1130 |           }
1131 | 
1132 |           if ( data.limit[3] >= axisLimit || data.limit[3] <= -axisLimit ) {
1133 |             $('#xMin').html('min')
1134 |           } else {
1135 |             $('#xMin').html(data.limit[3]) + ' mm'
1136 |           }
1137 | 
1138 |           if ( data.limit[4] >= axisLimit || data.limit[4] <= -axisLimit ) {
1139 |             $('#yMin').html('min')
1140 |           } else {
1141 |             $('#yMin').html(data.limit[4]) + ' mm'
1142 |           }
1143 | 
1144 |           if ( data.limit[5] >= axisLimit || data.limit[5] <= -axisLimit ) {
1145 |             $('#zMin').html('min')
1146 |           } else {
1147 |             $('#zMin').html(data.limit[5]) + ' mm'
1148 |           }
1149 | 
1150 |           if ( data.limit[6] > jointLimit || data.limit[6] < -jointLimit ) {
1151 |             $('#j1Max').html('max')
1152 |           } else {
1153 |             $('#j1Max').html(data.limit[6]) + ' &#176;'
1154 |           }
1155 | 
1156 |           if ( data.limit[7] > jointLimit || data.limit[7] < -jointLimit ) {
1157 |             $('#j2Max').html('max')
1158 |           } else {
1159 |             $('#j2Max').html(data.limit[7]) + ' &#176;'
1160 |           }
1161 | 
1162 |           if ( data.limit[8] > jointLimit || data.limit[8] < -jointLimit ) {
1163 |             $('#j3Max').html('max')
1164 |           } else {
1165 |             $('#j3Max').html(data.limit[8]) + ' &#176;'
1166 |           }
1167 | 
1168 |           if ( data.limit[9] > jointLimit || data.limit[9] < -jointLimit ) {
1169 |             $('#j4Max').html('max')
1170 |           } else {
1171 |             $('#j4Max').html(data.limit[9]) + ' &#176;'
1172 |           }
1173 | 
1174 |           if ( data.limit[10] > jointLimit || data.limit[10] < -jointLimit ) {
1175 |             $('#j5Max').html('max')
1176 |           } else {
1177 |             $('#j5Max').html(data.limit[10]) + ' &#176;'
1178 |           }
1179 | 
1180 |           if ( data.limit[11] > jointLimit || data.limit[11] < -jointLimit ) {
1181 |             $('#j6Max').html('max')
1182 |           } else {
1183 |             $('#j6Max').html(data.limit[11]) + ' &#176;'
1184 |           }
1185 | 
1186 |           if ( data.limit[12] > jointLimit || data.limit[12] < -jointLimit ) {
1187 |             $('#j1Min').html('min')
1188 |           } else {
1189 |             $('#j1Min').html(data.limit[12]) + ' &#176;'
1190 |           }
1191 | 
1192 |           if ( data.limit[13] > jointLimit || data.limit[13] < -jointLimit ) {
1193 |             $('#j2Min').html('min')
1194 |           } else {
1195 |             $('#j2Min').html(data.limit[13]) + ' &#176;'
1196 |           }
1197 | 
1198 |           if ( data.limit[14] > jointLimit || data.limit[14] < -jointLimit ) {
1199 |             $('#j3Min').html('min')
1200 |           } else {
1201 |             $('#j3Min').html(data.limit[14]) + ' &#176;'
1202 |           }
1203 | 
1204 |           if ( data.limit[15] > jointLimit || data.limit[15] < -jointLimit ) {
1205 |             $('#j4Min').html('min')
1206 |           } else {
1207 |             $('#j4Min').html(data.limit[15]) + ' &#176;'
1208 |           }
1209 | 
1210 |           if ( data.limit[16] > jointLimit || data.limit[16] < -jointLimit ) {
1211 |             $('#j5Min').html('min')
1212 |           } else {
1213 |             $('#j5Min').html(data.limit[16]) + ' &#176;'
1214 |           }
1215 | 
1216 |           if ( data.limit[17] > jointLimit || data.limit[17] < -jointLimit ) {
1217 |             $('#j6Min').html('min')
1218 |           } else {
1219 |             $('#j6Min').html(data.limit[17]) + ' &#176;'
1220 |           }
1221 | 
1222 |           // Set the current limit value in the new limit input box
1223 | 
1224 |           $('#xMaxCh').click(function() {
1225 |             $('.limitWarning').hide()
1226 |             if ( data.limit[0] >= axisLimit || data.limit[0] <= -axisLimit ) {
1227 |               $("#xMaxNew").val('')
1228 |             } else {
1229 |               $("#xMaxNew").val(data.limit[0])
1230 |             }
1231 |           })
1232 | 
1233 |           $('#yMaxCh').click(function() {
1234 |             $('.limitWarning').hide()
1235 |             if ( data.limit[1] >= axisLimit || data.limit[1] <= -axisLimit ) {
1236 |               $("#yMaxNew").val('')
1237 |             } else {
1238 |               $("#yMaxNew").val(data.limit[1])
1239 |             }
1240 |           })
1241 | 
1242 |           $('#zMaxCh').click(function() {
1243 |             $('.limitWarning').hide()
1244 |             if ( data.limit[2] >= axisLimit || data.limit[2] <= -axisLimit ) {
1245 |               $("#zMaxNew").val('')
1246 |             } else {
1247 |               $("#zMaxNew").val(data.limit[2])
1248 |             }
1249 |           })
1250 | 
1251 |           $('#xMinCh').click(function() {
1252 |             $('.limitWarning').hide()
1253 |             if ( data.limit[3] >= axisLimit || data.limit[3] <= -axisLimit ) {
1254 |               $("#xMinNew").val('')
1255 |             } else {
1256 |               $("#xMinNew").val(data.limit[3])
1257 |             }
1258 |           })
1259 | 
1260 |           $('#yMinCh').click(function() {
1261 |             $('.limitWarning').hide()
1262 |             if ( data.limit[4] >= axisLimit || data.limit[4] <= -axisLimit ) {
1263 |               $("#yMinNew").val('')
1264 |             } else {
1265 |               $("#yMinNew").val(data.limit[4])
1266 |             }
1267 |           })
1268 | 
1269 |           $('#zMinCh').click(function() {
1270 |             $('.limitWarning').hide()
1271 |             if ( data.limit[5] >= axisLimit || data.limit[5] <= -axisLimit ) {
1272 |               $("#zMinNew").val('')
1273 |             } else {
1274 |               $("#zMinNew").val(data.limit[5])
1275 |             }
1276 |           })
1277 | 
1278 |           $('#j1MaxCh').click(function() {
1279 |             $('.limitWarning').hide()
1280 |             if ( data.limit[6] >= jointLimit || data.limit[6] <= -jointLimit ) {
1281 |               $("#j1MaxNew").val('')
1282 |             } else {
1283 |               $("#j1MaxNew").val(data.limit[6])
1284 |             }
1285 |           })
1286 | 
1287 |           $('#j2MaxCh').click(function() {
1288 |             $('.limitWarning').hide()
1289 |             if ( data.limit[7] >= jointLimit || data.limit[7] <= -jointLimit ) {
1290 |               $("#j2MaxNew").val('')
1291 |             } else {
1292 |               $("#j2MaxNew").val(data.limit[7])
1293 |             }
1294 |           })
1295 | 
1296 |           $('#j3MaxCh').click(function() {
1297 |             $('.limitWarning').hide()
1298 |             if ( data.limit[8] >= jointLimit || data.limit[8] <= -jointLimit ) {
1299 |               $("#j3MaxNew").val('')
1300 |             } else {
1301 |               $("#j3MaxNew").val(data.limit[8])
1302 |             }
1303 |           })
1304 | 
1305 |           $('#j4MaxCh').click(function() {
1306 |             $('.limitWarning').hide()
1307 |             if ( data.limit[9] >= jointLimit || data.limit[9] <= -jointLimit ) {
1308 |               $("#j4MaxNew").val('')
1309 |             } else {
1310 |               $("#j4MaxNew").val(data.limit[9])
1311 |             }
1312 |           })
1313 | 
1314 |           $('#j5MaxCh').click(function() {
1315 |             $('.limitWarning').hide()
1316 |             if ( data.limit[10] >= jointLimit || data.limit[10] <= -jointLimit ) {
1317 |               $("#j5MaxNew").val('')
1318 |             } else {
1319 |               $("#j5MaxNew").val(data.limit[10])
1320 |             }
1321 |           })
1322 | 
1323 |           $('#j6MaxCh').click(function() {
1324 |             $('.limitWarning').hide()
1325 |             if ( data.limit[11] >= jointLimit || data.limit[11] <= -jointLimit ) {
1326 |               $("#j6MaxNew").val('')
1327 |             } else {
1328 |               $("#j6MaxNew").val(data.limit[11])
1329 |             }
1330 |           })
1331 | 
1332 |           $('#j1MinCh').click(function() {
1333 |             $('.limitWarning').hide()
1334 |             if ( data.limit[12] >= jointLimit || data.limit[12] <= -jointLimit ) {
1335 |               $("#j1MinNew").val('')
1336 |             } else {
1337 |               $("#j1MinNew").val(data.limit[12])
1338 |             }
1339 |           })
1340 | 
1341 |           $('#j2MinCh').click(function() {
1342 |             $('.limitWarning').hide()
1343 |             if ( data.limit[13] >= jointLimit || data.limit[13] <= -jointLimit ) {
1344 |               $("#j2MinNew").val('')
1345 |             } else {
1346 |               $("#j2MinNew").val(data.limit[13])
1347 |             }
1348 |           })
1349 | 
1350 |           $('#j3MinCh').click(function() {
1351 |             $('.limitWarning').hide()
1352 |             if ( data.limit[14] >= jointLimit || data.limit[14] <= -jointLimit ) {
1353 |               $("#j3MinNew").val('')
1354 |             } else {
1355 |               $("#j3MinNew").val(data.limit[14])
1356 |             }
1357 |           })
1358 | 
1359 |           $('#j4MinCh').click(function() {
1360 |             $('.limitWarning').hide()
1361 |             if ( data.limit[15] >= jointLimit || data.limit[15] <= -jointLimit ) {
1362 |               $("#j4MinNew").val('')
1363 |             } else {
1364 |               $("#j4MinNew").val(data.limit[15])
1365 |             }
1366 |           })
1367 | 
1368 |           $('#j5MinCh').click(function() {
1369 |             $('.limitWarning').hide()
1370 |             if ( data.limit[16] >= jointLimit || data.limit[16] <= -jointLimit ) {
1371 |               $("#j5MinNew").val('')
1372 |             } else {
1373 |               $("#j5MinNew").val(data.limit[16])
1374 |             }
1375 |           })
1376 | 
1377 |           $('#j6MinCh').click(function() {
1378 |             $('.limitWarning').hide()
1379 |             if ( data.limit[17] >= jointLimit || data.limit[17] <= -jointLimit ) {
1380 |               $("#j6MinNew").val('')
1381 |             } else {
1382 |               $("#j6MinNew").val(data.limit[17])
1383 |             }
1384 |           })
1385 | 
1386 |           setTimeout(getposj(), 500)
1387 |         })
1388 |       }
1389 | 
1390 |       // Start a program
1391 | 
1392 |       $('#webprogram-start').click(function() {
1393 |         var task = $('#selectTask').find('option:selected').text();
1394 | 		    var task = task.substr(0,task.indexOf(' '));
1395 |         if ( task.indexOf("WEBMOTION") >= 0 ) {
1396 |           $('#info-controller').show()
1397 |           $('#info-jog').hide()
1398 |           $('#info-cart').hide()
1399 |           $('#webprogram-run').hide()
1400 |           $('#webprogram-control').hide()
1401 |           $('#webmotion-menu').show()
1402 |           $('#webmotion-jog').show()
1403 |           $('#webmotion-control').show()
1404 |         }        
1405 |         console.log(`Start ${task}`)
1406 |         $.ajax({
1407 |           type: 'GET',
1408 |           url: `/KAREL/webstart?str_task=${task}`,
1409 |           cache: false,
1410 |           success: function() {
1411 |             console.log(`Send START ${task} is successful`)
1412 |           }
1413 |         })
1414 |       })
1415 | 
1416 |       // Join the running webmotion session
1417 | 
1418 |       $('#webmotion-join').click(function() {
1419 |           $('#info-controller').show()
1420 |           $('#info-jog').hide()
1421 |           $('#info-cart').hide()
1422 |           $('#webprogram-run').hide()
1423 |           $('#webprogram-control').hide()
1424 |           $('#webmotion-menu').show()
1425 |           $('#webmotion-jog').show()
1426 |           $('#webmotion-control').show()
1427 |       })
1428 | 
1429 |       // Restart the webmotion
1430 | 
1431 |       $('#webmotion-start').click(function() {  
1432 |         console.log('Start webmotion')
1433 |         $.ajax({
1434 |           type: 'GET',
1435 |           url: '/KAREL/webstart?str_task=WEBMOTION',
1436 |           cache: false,
1437 |           success: function() {
1438 |             console.log('Send START webmotion is successful')
1439 |           }
1440 |         })
1441 |       })
1442 | 
1443 |       // Reset the controller
1444 | 
1445 |       $('.reset').click(function() {
1446 |         console.log('Reset the controller')
1447 |         $.ajax({
1448 |           type: 'GET',
1449 |           url: '/KAREL/webreset',
1450 |           cache: false,
1451 |           success: function() {
1452 |             console.log('Send RESET is successful')
1453 |           }
1454 |         })
1455 |       })
1456 | 
1457 |       // Abort any motion
1458 | 
1459 |       $('.abort').click(function() {
1460 |         console.log('ABORT motion')
1461 |         $('#info-controller').show()
1462 |         $('#info-jog').show()
1463 |         $('#info-cart').show()
1464 |         $('#webprogram-run').show()
1465 |         $('#webprogram-control').show()
1466 |         $('#webmotion-menu').hide()
1467 |         $('#webmotion-jog').hide()
1468 |         $('#webmotion-cart').hide()
1469 |         $('#webmotion-pose').hide()
1470 |         $('#webmotion-control').hide()
1471 |         $('#webcontrol-set').hide()
1472 |         $.ajax({
1473 |           type: 'GET',
1474 |           url: '/KAREL/webabort',
1475 |           cache: false,
1476 |           success: function() {
1477 |             console.log('Send ABORT is successful')
1478 |           }
1479 |         })
1480 |       })
1481 | 
1482 |       $('#webcontrol-limit-set').click(function() {
1483 |         console.log('Limits\' set is start')
1484 |         $('#info-controller').hide()
1485 |         $('#info-jog').hide()
1486 |         $('#info-cart').hide()
1487 |         $('#webprogram-run').hide()
1488 |         $('#webprogram-control').hide()
1489 |         $('#webmotion-menu').hide()
1490 |         $('#webmotion-jog').hide()
1491 |         $('#webmotion-cart').hide()
1492 |         $('#webmotion-pose').hide()
1493 |         $('#webmotion-control').hide()
1494 |         $('#webcontrol-set').show()
1495 |       })
1496 | 
1497 |       $('#webcontrol-limit-done').click(function() {
1498 |         console.log('Limits are set')
1499 |         $('#info-controller').show()
1500 |         $('#info-jog').show()
1501 |         $('#info-cart').show()
1502 |         $('#webprogram-run').show()
1503 |         $('#webprogram-control').show()
1504 |         $('#webmotion-menu').hide()
1505 |         $('#webmotion-jog').hide()
1506 |         $('#webmotion-cart').hide()
1507 |         $('#webmotion-pose').hide()
1508 |         $('#webmotion-control').hide()
1509 |         $('#webcontrol-set').hide()
1510 |       })
1511 | 
1512 |       // Keep the motion
1513 |       
1514 |       function webkeep() {
1515 |         console.log('KEEP motion')
1516 |         $.ajax({
1517 |           type: 'GET',
1518 |           url: '/KAREL/webkeep',
1519 |           cache: false,
1520 |           success: function() {
1521 |             console.log('Send KEEP is successful')
1522 |           }
1523 |         })  
1524 |       }
1525 | 
1526 |       // Stop the motion
1527 |       
1528 |       function webstop() {
1529 |         console.log('STOP(999) motion')
1530 |         $.ajax({
1531 |           type: 'GET',
1532 |           url: '/KAREL/webstop',
1533 |           cache: false,
1534 |           success: function() {
1535 |             console.log('Send STOP(999) is successful')
1536 |           }
1537 |         })
1538 |       }
1539 | 
1540 |       // clearInterval and clearTimeout
1541 | 
1542 |       function webclear() {
1543 |         if (refresh !== undefined) {
1544 |           clearInterval(refresh)
1545 |           console.log('refresh is cleared')
1546 |         } else {
1547 |           console.log('refresh is undefined')
1548 |         }
1549 |         if (enButVar !== undefined) {
1550 |           clearTimeout(enButVar)
1551 |           console.log('enButVar is cleared')
1552 |         } else {
1553 |           console.log('enBurVar is undefined')
1554 |         }      
1555 |       }
1556 | 
1557 |       // Enable buttons after a motion
1558 |       
1559 |       function enBut() {
1560 |         $(".btn").removeAttr('disabled')
1561 |       }
1562 |     
1563 |       // Jogging
1564 | 
1565 |       $('#j1m').on('mousedown touchstart', function() {
1566 |         webclear()
1567 |         $(".btn").not(this).prop('disabled', true)
1568 |         $(".abort").prop('disabled', false)
1569 |         var mtn_mod = '2' 
1570 |         var coord1 = '-1'
1571 |         var coord2 = '0'
1572 |         var coord3 = '0'
1573 |         var coord4 = '0'
1574 |         var coord5 = '0'
1575 |         var coord6 = '0'
1576 |         $.ajax({
1577 |           type: 'GET',
1578 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1579 |           cache: false,
1580 |           success: function() {}
1581 |         })
1582 |         refresh = setInterval(webkeep, setInt)
1583 |       }).on('mouseup touchend', function() {
1584 |         webstop()
1585 |         clearInterval(refresh)
1586 |         enButVar = setTimeout(enBut, setTime)
1587 |       })
1588 | 
1589 |       $('#j1p').on('mousedown touchstart', function() {
1590 |         webclear()
1591 |         $(".btn").not(this).prop('disabled', true)
1592 |         $(".abort").prop('disabled', false)
1593 |         var mtn_mod = '2' 
1594 |         var coord1 = '1'
1595 |         var coord2 = '0'
1596 |         var coord3 = '0'
1597 |         var coord4 = '0'
1598 |         var coord5 = '0'
1599 |         var coord6 = '0'
1600 |         $.ajax({
1601 |           type: 'GET',
1602 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1603 |           cache: false,
1604 |           success: function() {}
1605 |         })
1606 |         refresh = setInterval(webkeep, setInt)
1607 |       }).on('mouseup touchend', function() {
1608 |         webstop()
1609 |         clearInterval(refresh)
1610 |         enButVar = setTimeout(enBut, setTime)
1611 |       })
1612 | 
1613 |       $('#j2m').on('mousedown touchstart', function() {
1614 |         webclear()
1615 |         $(".btn").not(this).prop('disabled', true)
1616 |         $(".abort").prop('disabled', false)
1617 |         var mtn_mod = '2' 
1618 |         var coord1 = '0'
1619 |         var coord2 = '-1'
1620 |         var coord3 = '0'
1621 |         var coord4 = '0'
1622 |         var coord5 = '0'
1623 |         var coord6 = '0'
1624 |         $.ajax({
1625 |           type: 'GET',
1626 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1627 |           cache: false,
1628 |           success: function() {}
1629 |         })
1630 |         refresh = setInterval(webkeep, setInt)
1631 |       }).on('mouseup touchend', function() {
1632 |         webstop()
1633 |         clearInterval(refresh)
1634 |         enButVar = setTimeout(enBut, setTime)
1635 |       }) 
1636 | 
1637 |       $('#j2p').on('mousedown touchstart', function() {
1638 |         webclear()
1639 |         $(".btn").not(this).prop('disabled', true)
1640 |         $(".abort").prop('disabled', false)
1641 |         var mtn_mod = '2' 
1642 |         var coord1 = '0'
1643 |         var coord2 = '1'
1644 |         var coord3 = '0'
1645 |         var coord4 = '0'
1646 |         var coord5 = '0'
1647 |         var coord6 = '0'
1648 |         $.ajax({
1649 |           type: 'GET',
1650 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1651 |           cache: false,
1652 |           success: function() {}
1653 |         })
1654 |         refresh = setInterval(webkeep, setInt)
1655 |       }).on('mouseup touchend', function() {
1656 |         webstop()
1657 |         clearInterval(refresh)
1658 |         enButVar = setTimeout(enBut, setTime)
1659 |       }) 
1660 | 
1661 |       $('#j3m').on('mousedown touchstart', function() {
1662 |         webclear()      
1663 |         $(".btn").not(this).prop('disabled', true)
1664 |         $(".abort").prop('disabled', false)
1665 |         var mtn_mod = '2' 
1666 |         var coord1 = '0'
1667 |         var coord2 = '0'
1668 |         var coord3 = '-1'
1669 |         var coord4 = '0'
1670 |         var coord5 = '0'
1671 |         var coord6 = '0'
1672 |         $.ajax({
1673 |           type: 'GET',
1674 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1675 |           cache: false,
1676 |           success: function() {}
1677 |         })
1678 |         refresh = setInterval(webkeep, setInt)
1679 |       }).on('mouseup touchend', function() {
1680 |         webstop()
1681 |         clearInterval(refresh)
1682 |         enButVar = setTimeout(enBut, setTime)
1683 |       }) 
1684 | 
1685 |       $('#j3p').on('mousedown touchstart', function() {
1686 |         webclear()      
1687 |         $(".btn").not(this).prop('disabled', true)
1688 |         $(".abort").prop('disabled', false)
1689 |         var mtn_mod = '2' 
1690 |         var coord1 = '0'
1691 |         var coord2 = '0'
1692 |         var coord3 = '1'
1693 |         var coord4 = '0'
1694 |         var coord5 = '0'
1695 |         var coord6 = '0'
1696 |         $.ajax({
1697 |           type: 'GET',
1698 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1699 |           cache: false,
1700 |           success: function() {}
1701 |         })
1702 |         refresh = setInterval(webkeep, setInt)
1703 |       }).on('mouseup touchend', function() {
1704 |         webstop()
1705 |         clearInterval(refresh)
1706 |         enButVar = setTimeout(enBut, setTime)
1707 |       })  
1708 | 
1709 |       $('#j4m').on('mousedown touchstart', function() {
1710 |         webclear()
1711 |         $(".btn").not(this).prop('disabled', true)
1712 |         $(".abort").prop('disabled', false) 
1713 |         var mtn_mod = '2' 
1714 |         var coord1 = '0'
1715 |         var coord2 = '0'
1716 |         var coord3 = '0'
1717 |         var coord4 = '-1'
1718 |         var coord5 = '0'
1719 |         var coord6 = '0'
1720 |         $.ajax({
1721 |           type: 'GET',
1722 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1723 |           cache: false,
1724 |           success: function() {}
1725 |         })
1726 |         refresh = setInterval(webkeep, setInt)
1727 |       }).on('mouseup touchend', function() {
1728 |         webstop()
1729 |         clearInterval(refresh)
1730 |         enButVar = setTimeout(enBut, setTime)
1731 |       }) 
1732 | 
1733 |       $('#j4p').on('mousedown touchstart', function() {
1734 |         webclear()
1735 |         $(".btn").not(this).prop('disabled', true)
1736 |         $(".abort").prop('disabled', false)
1737 |         var mtn_mod = '2' 
1738 |         var coord1 = '0'
1739 |         var coord2 = '0'
1740 |         var coord3 = '0'
1741 |         var coord4 = '1'
1742 |         var coord5 = '0'
1743 |         var coord6 = '0'
1744 |         $.ajax({
1745 |           type: 'GET',
1746 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1747 |           cache: false,
1748 |           success: function() {}
1749 |         })
1750 |         refresh = setInterval(webkeep, setInt)
1751 |       }).on('mouseup touchend', function() {
1752 |         webstop()
1753 |         clearInterval(refresh)
1754 |         enButVar = setTimeout(enBut, setTime)
1755 |       }) 
1756 | 
1757 |       $('#j5m').on('mousedown touchstart', function() {
1758 |         webclear()
1759 |         $(".btn").not(this).prop('disabled', true)
1760 |         $(".abort").prop('disabled', false)
1761 |         var mtn_mod = '2' 
1762 |         var coord1 = '0'
1763 |         var coord2 = '0'
1764 |         var coord3 = '0'
1765 |         var coord4 = '0'
1766 |         var coord5 = '-1'
1767 |         var coord6 = '0'
1768 |         $.ajax({
1769 |           type: 'GET',
1770 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1771 |           cache: false,
1772 |           success: function() {}
1773 |         })
1774 |         refresh = setInterval(webkeep, setInt)
1775 |       }).on('mouseup touchend', function() {
1776 |         webstop()
1777 |         clearInterval(refresh)
1778 |         enButVar = setTimeout(enBut, setTime)
1779 |       }) 
1780 | 
1781 |       $('#j5p').on('mousedown touchstart', function() {
1782 |         webclear()
1783 |         $(".btn").not(this).prop('disabled', true)
1784 |         $(".abort").prop('disabled', false)
1785 |         var mtn_mod = '2' 
1786 |         var coord1 = '0'
1787 |         var coord2 = '0'
1788 |         var coord3 = '0'
1789 |         var coord4 = '0'
1790 |         var coord5 = '1'
1791 |         var coord6 = '0'
1792 |         $.ajax({
1793 |           type: 'GET',
1794 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1795 |           cache: false,
1796 |           success: function() {}
1797 |         })
1798 |         refresh = setInterval(webkeep, setInt)
1799 |       }).on('mouseup touchend', function() {
1800 |         webstop()
1801 |         clearInterval(refresh)
1802 |         enButVar = setTimeout(enBut, setTime)
1803 |       }) 
1804 | 
1805 |       $('#j6m').on('mousedown touchstart', function() {
1806 |         webclear()
1807 |         $(".btn").not(this).prop('disabled', true)
1808 |         $(".abort").prop('disabled', false)  
1809 |         var mtn_mod = '2' 
1810 |         var coord1 = '0'
1811 |         var coord2 = '0'
1812 |         var coord3 = '0'
1813 |         var coord4 = '0'
1814 |         var coord5 = '0'
1815 |         var coord6 = '-1'
1816 |         $.ajax({
1817 |           type: 'GET',
1818 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1819 |           cache: false,
1820 |           success: function() {}
1821 |         })
1822 |         refresh = setInterval(webkeep, setInt)
1823 |       }).on('mouseup touchend', function() {
1824 |         webstop()
1825 |         clearInterval(refresh)
1826 |         enButVar = setTimeout(enBut, setTime)
1827 |       }) 
1828 | 
1829 |       $('#j6p').on('mousedown touchstart', function() {
1830 |         webclear()
1831 |         $(".btn").not(this).prop('disabled', true)
1832 |         $(".abort").prop('disabled', false) 
1833 |         var mtn_mod = '2' 
1834 |         var coord1 = '0'
1835 |         var coord2 = '0'
1836 |         var coord3 = '0'
1837 |         var coord4 = '0'
1838 |         var coord5 = '0'
1839 |         var coord6 = '1'
1840 |         $.ajax({
1841 |           type: 'GET',
1842 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1843 |           cache: false,
1844 |           success: function() {}
1845 |         })
1846 |         refresh = setInterval(webkeep, setInt)
1847 |       }).on('mouseup touchend', function() {
1848 |         webstop()
1849 |         clearInterval(refresh)
1850 |         enButVar = setTimeout(enBut, setTime)
1851 |       }) 
1852 | 
1853 |       // Move to linear
1854 |       
1855 |       $('#wmx').on('mousedown touchstart', function() {
1856 |         webclear()
1857 |         $(".btn").not(this).prop('disabled', true)
1858 |         $(".abort").prop('disabled', false)
1859 |         var mtn_mod = '5' 
1860 |         var coord1 = '-3'
1861 |         var coord2 = '0'
1862 |         var coord3 = '0'
1863 |         var coord4 = '0'
1864 |         var coord5 = '0'
1865 |         var coord6 = '0'
1866 |         $.ajax({
1867 |           type: 'GET',
1868 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1869 |           cache: false,
1870 |           success: function() {}
1871 |         })
1872 |         refresh = setInterval(webkeep, setInt)
1873 |       }).on('mouseup touchend', function() {
1874 |         webstop()
1875 |         clearInterval(refresh)
1876 |         enButVar = setTimeout(enBut, setTime)
1877 |       })
1878 | 
1879 |       $('#wpx').on('mousedown touchstart', function() {
1880 |         webclear()
1881 |         $(".btn").not(this).prop('disabled', true)
1882 |         $(".abort").prop('disabled', false)
1883 |         var mtn_mod = '5' 
1884 |         var coord1 = '3'
1885 |         var coord2 = '0'
1886 |         var coord3 = '0'
1887 |         var coord4 = '0'
1888 |         var coord5 = '0'
1889 |         var coord6 = '0'
1890 |         $.ajax({
1891 |           type: 'GET',
1892 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1893 |           cache: false,
1894 |           success: function() {}
1895 |         })
1896 |         refresh = setInterval(webkeep, setInt)
1897 |       }).on('mouseup touchend', function() {
1898 |         webstop()
1899 |         clearInterval(refresh)
1900 |         enButVar = setTimeout(enBut, setTime)
1901 |       })
1902 | 
1903 |       $('#wmy').on('mousedown touchstart', function() {
1904 |         webclear()
1905 |         $(".btn").not(this).prop('disabled', true)
1906 |         $(".abort").prop('disabled', false)
1907 |         var mtn_mod = '5' 
1908 |         var coord1 = '0'
1909 |         var coord2 = '-3'
1910 |         var coord3 = '0'
1911 |         var coord4 = '0'
1912 |         var coord5 = '0'
1913 |         var coord6 = '0'
1914 |         $.ajax({
1915 |           type: 'GET',
1916 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1917 |           cache: false,
1918 |           success: function() {}
1919 |         })
1920 |         refresh = setInterval(webkeep, setInt)  
1921 |       }).on('mouseup touchend', function() {
1922 |         webstop()
1923 |         clearInterval(refresh)
1924 |         enButVar = setTimeout(enBut, setTime)
1925 |       })
1926 | 
1927 |       $('#wpy').on('mousedown touchstart', function() {
1928 |         webclear()
1929 |         $(".btn").not(this).prop('disabled', true)
1930 |         $(".abort").prop('disabled', false)
1931 |         var mtn_mod = '5' 
1932 |         var coord1 = '0'
1933 |         var coord2 = '3'
1934 |         var coord3 = '0'
1935 |         var coord4 = '0'
1936 |         var coord5 = '0'
1937 |         var coord6 = '0'
1938 |         $.ajax({
1939 |           type: 'GET',
1940 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1941 |           cache: false,
1942 |           success: function() {}
1943 |         })
1944 |         refresh = setInterval(webkeep, setInt)
1945 |       }).on('mouseup touchend', function() {
1946 |         webstop()
1947 |         clearInterval(refresh)
1948 |         enButVar = setTimeout(enBut, setTime)
1949 |       })
1950 | 
1951 |       $('#wmz').on('mousedown touchstart', function() {
1952 |         webclear()
1953 |         $(".btn").not(this).prop('disabled', true)
1954 |         $(".abort").prop('disabled', false)
1955 |         var mtn_mod = '5' 
1956 |         var coord1 = '0'
1957 |         var coord2 = '0'
1958 |         var coord3 = '-3'
1959 |         var coord4 = '0'
1960 |         var coord5 = '0'
1961 |         var coord6 = '0'
1962 |         $.ajax({
1963 |           type: 'GET',
1964 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1965 |           cache: false,
1966 |           success: function() {}
1967 |         })
1968 |         refresh = setInterval(webkeep, setInt)  
1969 |       }).on('mouseup touchend', function() {
1970 |         webstop()
1971 |         clearInterval(refresh)
1972 |         enButVar = setTimeout(enBut, setTime)
1973 |       })
1974 | 
1975 |       $('#wpz').on('mousedown touchstart', function() {
1976 |         webclear()
1977 |         $(".btn").not(this).prop('disabled', true)
1978 |         $(".abort").prop('disabled', false)
1979 |         var mtn_mod = '5' 
1980 |         var coord1 = '0'
1981 |         var coord2 = '0'
1982 |         var coord3 = '3'
1983 |         var coord4 = '0'
1984 |         var coord5 = '0'
1985 |         var coord6 = '0'
1986 |         $.ajax({
1987 |           type: 'GET',
1988 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
1989 |           cache: false,
1990 |           success: function() {}
1991 |         })
1992 |         refresh = setInterval(webkeep, setInt)  
1993 |       }).on('mouseup touchend', function() {
1994 |         webstop()
1995 |         clearInterval(refresh)
1996 |         enButVar = setTimeout(enBut, setTime)
1997 |       })
1998 | 
1999 |       // Rotate the TCP
2000 | 
2001 |       $('#wmw').on('mousedown touchstart', function() {
2002 |         webclear()
2003 |         $(".btn").not(this).prop('disabled', true)
2004 |         $(".abort").prop('disabled', false)
2005 |         var mtn_mod = '6' 
2006 |         var coord1 = '0'
2007 |         var coord2 = '0'
2008 |         var coord3 = '0'
2009 |         var coord4 = '-1'
2010 |         var coord5 = '0'
2011 |         var coord6 = '0'
2012 |         $.ajax({
2013 |           type: 'GET',
2014 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2015 |           cache: false,
2016 |           success: function() {}
2017 |         })
2018 |         refresh = setInterval(webkeep, setInt)  
2019 |       }).on('mouseup touchend', function() {
2020 |         webstop()
2021 |         clearInterval(refresh)
2022 |         enButVar = setTimeout(enBut, setTime)
2023 |       })
2024 | 
2025 |       $('#wpw').on('mousedown touchstart', function() {
2026 |         webclear()
2027 |         $(".btn").not(this).prop('disabled', true)
2028 |         $(".abort").prop('disabled', false)
2029 |         var mtn_mod = '6' 
2030 |         var coord1 = '0'
2031 |         var coord2 = '0'
2032 |         var coord3 = '0'
2033 |         var coord4 = '1'
2034 |         var coord5 = '0'
2035 |         var coord6 = '0'
2036 |         $.ajax({
2037 |           type: 'GET',
2038 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2039 |           cache: false,
2040 |           success: function() {}
2041 |         })
2042 |         refresh = setInterval(webkeep, setInt)  
2043 |       }).on('mouseup touchend', function() {
2044 |         webstop()
2045 |         clearInterval(refresh)
2046 |         enButVar = setTimeout(enBut, setTime)
2047 |       })
2048 | 
2049 |       $('#wmp').on('mousedown touchstart', function() {
2050 |         webclear()
2051 |         $(".btn").not(this).prop('disabled', true)
2052 |         $(".abort").prop('disabled', false)
2053 |         var mtn_mod = '6' 
2054 |         var coord1 = '0'
2055 |         var coord2 = '0'
2056 |         var coord3 = '0'
2057 |         var coord4 = '0'
2058 |         var coord5 = '-1'
2059 |         var coord6 = '0'
2060 |         $.ajax({
2061 |           type: 'GET',
2062 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2063 |           cache: false,
2064 |           success: function() {}
2065 |         })
2066 |         refresh = setInterval(webkeep, setInt)  
2067 |       }).on('mouseup touchend', function() {
2068 |         webstop()
2069 |         clearInterval(refresh)
2070 |         enButVar = setTimeout(enBut, setTime)
2071 |       })
2072 | 
2073 |       $('#wpp').on('mousedown touchstart', function() {
2074 |         webclear()
2075 |         $(".btn").not(this).prop('disabled', true)
2076 |         $(".abort").prop('disabled', false)
2077 |         var mtn_mod = '6' 
2078 |         var coord1 = '0'
2079 |         var coord2 = '0'
2080 |         var coord3 = '0'
2081 |         var coord4 = '0'
2082 |         var coord5 = '1'
2083 |         var coord6 = '0'
2084 |         $.ajax({
2085 |           type: 'GET',
2086 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2087 |           cache: false,
2088 |           success: function() {}
2089 |         })
2090 |         refresh = setInterval(webkeep, setInt)  
2091 |       }).on('mouseup touchend', function() {
2092 |         webstop()
2093 |         clearInterval(refresh)
2094 |         enButVar = setTimeout(enBut, setTime)
2095 |       })
2096 | 
2097 |       $('#wmr').on('mousedown touchstart', function() {
2098 |         webclear()
2099 |         $(".btn").not(this).prop('disabled', true)
2100 |         $(".abort").prop('disabled', false)
2101 |         var mtn_mod = '6' 
2102 |         var coord1 = '0'
2103 |         var coord2 = '0'
2104 |         var coord3 = '0'
2105 |         var coord4 = '0'
2106 |         var coord5 = '0'
2107 |         var coord6 = '-1'
2108 |         $.ajax({
2109 |           type: 'GET',
2110 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2111 |           cache: false,
2112 |           success: function() {}
2113 |         })
2114 |         refresh = setInterval(webkeep, setInt)  
2115 |       }).on('mouseup touchend', function() {
2116 |         webstop()
2117 |         clearInterval(refresh)
2118 |         enButVar = setTimeout(enBut, setTime)
2119 |       })
2120 | 
2121 |       $('#wpr').on('mousedown touchstart', function() {
2122 |         webclear()
2123 |         $(".btn").not(this).prop('disabled', true)
2124 |         $(".abort").prop('disabled', false)
2125 |         var mtn_mod = '6' 
2126 |         var coord1 = '0'
2127 |         var coord2 = '0'
2128 |         var coord3 = '0'
2129 |         var coord4 = '0'
2130 |         var coord5 = '0'
2131 |         var coord6 = '1'
2132 |         $.ajax({
2133 |           type: 'GET',
2134 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2135 |           cache: false,
2136 |           success: function() {}
2137 |         })
2138 |         refresh = setInterval(webkeep, setInt)  
2139 |       }).on('mouseup touchend', function() {
2140 |         webstop()
2141 |         clearInterval(refresh)
2142 |         enButVar = setTimeout(enBut, setTime)
2143 |       })
2144 | 
2145 |       //Move to predefined pose
2146 |       
2147 |       $('#pickup').click(function() {
2148 |         var mtn_mod = '1' 
2149 |         var coord1 = '0'
2150 |         var coord2 = '0'
2151 |         var coord3 = '0'
2152 |         var coord4 = '0'
2153 |         var coord5 = '0'
2154 |         var coord6 = '0'
2155 |         $.ajax({
2156 |           type: 'GET',
2157 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2158 |           cache: false,
2159 |           success: function() {
2160 |             webstop()
2161 |           }
2162 |         })
2163 |       })
2164 | 	  
2165 |       $('#zero').click(function() {
2166 |         var mtn_mod = '1' 
2167 |         var coord1 = '0'
2168 |         var coord2 = '0'
2169 |         var coord3 = '0'
2170 |         var coord4 = '0'
2171 |         var coord5 = '0'
2172 |         var coord6 = '0'
2173 |         $.ajax({
2174 |           type: 'GET',
2175 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2176 |           cache: false,
2177 |           success: function() {
2178 | 		        webstop()
2179 | 		      }
2180 |         })
2181 |       })
2182 | 
2183 |       $('#place').click(function() {
2184 |         var mtn_mod = '1' 
2185 |         var coord1 = '0'
2186 |         var coord2 = '0'
2187 |         var coord3 = '0'
2188 |         var coord4 = '0'
2189 |         var coord5 = '0'
2190 |         var coord6 = '0'
2191 |         $.ajax({
2192 |           type: 'GET',
2193 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2194 |           cache: false,
2195 |           success: function() {
2196 |             webstop()
2197 |           }
2198 |         })
2199 |       })
2200 | 
2201 |       $('#coord').click(function() {
2202 |         var mtn_mod = '1' 
2203 |         var coord1 = '0'
2204 |         var coord2 = '0'
2205 |         var coord3 = '0'
2206 |         var coord4 = '0'
2207 |         var coord5 = '0'
2208 |         var coord6 = '0'
2209 |         $.ajax({
2210 |           type: 'GET',
2211 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2212 |           cache: false,
2213 |           success: function() {
2214 |             webstop()
2215 |           }
2216 |         })
2217 |       })
2218 | 
2219 |       $('#show').click(function() {
2220 |         var mtn_mod = '1' 
2221 |         var coord1 = '0'
2222 |         var coord2 = '0'
2223 |         var coord3 = '0'
2224 |         var coord4 = '0'
2225 |         var coord5 = '0'
2226 |         var coord6 = '0'
2227 |         $.ajax({
2228 |           type: 'GET',
2229 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2230 |           cache: false,
2231 |           success: function() {
2232 |             webstop()
2233 |           }
2234 |         })
2235 |       })
2236 | 
2237 |       $('#touch').click(function() {
2238 |         var mtn_mod = '1' 
2239 |         var coord1 = '0'
2240 |         var coord2 = '0'
2241 |         var coord3 = '0'
2242 |         var coord4 = '0'
2243 |         var coord5 = '0'
2244 |         var coord6 = '0'
2245 |         $.ajax({
2246 |           type: 'GET',
2247 |           url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
2248 |           cache: false,
2249 |           success: function() {
2250 |             webstop()
2251 |           }
2252 |         })
2253 |       })
2254 | 
2255 |       //Set limits
2256 |       
2257 |       $('#xMaxSave').click(function() {
2258 |         if ( $("#xMaxNew").val() >= axisLimit || $("#xMaxNew").val() <= -axisLimit) {
2259 |           $('.limitWarning').show()
2260 |         } else {
2261 |           $('.limitWarning').hide()
2262 |           var limit_id = 1
2263 |           var limit_vl = $("#xMaxNew").val()
2264 |           $.ajax({
2265 |             type: 'GET',
2266 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2267 |             cache: false,
2268 |             success: function() {
2269 |               $('#xMaxSet').modal('hide')
2270 |             }
2271 |           })
2272 |         }
2273 |       })
2274 | 
2275 |       $('#yMaxSave').click(function() {
2276 |         if ( $("#yMaxNew").val() >= axisLimit || $("#yMaxNew").val() <= -axisLimit) {
2277 |           $('.limitWarning').show()
2278 |         } else {
2279 |           $('.limitWarning').hide()
2280 |           var limit_id = 2
2281 |           var limit_vl = $("#yMaxNew").val()
2282 |           $.ajax({
2283 |             type: 'GET',
2284 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2285 |             cache: false,
2286 |             success: function() {
2287 |               $('#yMaxSet').modal('hide')
2288 |             }
2289 |           })
2290 |         }
2291 |       })
2292 | 
2293 |       $('#zMaxSave').click(function() {
2294 |         if ( $("#zMaxNew").val() >= axisLimit || $("#zMaxNew").val() <= -axisLimit) {
2295 |           $('.limitWarning').show()
2296 |         } else {
2297 |           $('.limitWarning').hide()
2298 |           var limit_id = 3
2299 |           var limit_vl = $("#zMaxNew").val()
2300 |           $.ajax({
2301 |             type: 'GET',
2302 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2303 |             cache: false,
2304 |             success: function() {
2305 |               $('#zMaxSet').modal('hide')
2306 |             }
2307 |           })
2308 |         }
2309 |       })
2310 | 
2311 |       $('#xMinSave').click(function() {
2312 |         if ( $("#xMinNew").val() >= axisLimit || $("#xMinNew").val() <= -axisLimit) {
2313 |           $('.limitWarning').show()
2314 |         } else {
2315 |           $('.limitWarning').hide()
2316 |           var limit_id = 4
2317 |           var limit_vl = $("#xMinNew").val()
2318 |           $.ajax({
2319 |             type: 'GET',
2320 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2321 |             cache: false,
2322 |             success: function() {
2323 |               $('#xMinSet').modal('hide')
2324 |             }
2325 |           })
2326 |         }
2327 |       })
2328 | 
2329 |       $('#yMinSave').click(function() {
2330 |         if ( $("#yMinNew").val() >= axisLimit || $("#yMinNew").val() <= -axisLimit) {
2331 |           $('.limitWarning').show()
2332 |         } else {
2333 |           $('.limitWarning').hide()
2334 |           var limit_id = 5
2335 |           var limit_vl = $("#yMinNew").val()
2336 |           $.ajax({
2337 |             type: 'GET',
2338 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2339 |             cache: false,
2340 |             success: function() {
2341 |               $('#yMinSet').modal('hide')
2342 |             }
2343 |           })
2344 |         }
2345 |       })
2346 | 
2347 |       $('#zMinSave').click(function() {
2348 |         if ( $("#yMinNew").val() >= axisLimit || $("#yMinNew").val() <= -axisLimit) {
2349 |           $('.limitWarning').show()
2350 |         } else {
2351 |           $('.limitWarning').hide()
2352 |           var limit_id = 6
2353 |           var limit_vl = $("#zMinNew").val()
2354 |           $.ajax({
2355 |             type: 'GET',
2356 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2357 |             cache: false,
2358 |             success: function() {
2359 |               $('#zMinSet').modal('hide')
2360 |             }
2361 |           })
2362 |         }
2363 |       })
2364 | 
2365 |       $('#j1MaxSave').click(function() {
2366 |         if ( $("#j1MaxNew").val() > jointLimit || $("#j1MaxNew").val() < -jointLimit) {
2367 |           $('.limitWarning').show()
2368 |         } else {
2369 |           $('.limitWarning').hide()
2370 |           var limit_id = 11
2371 |           var limit_vl = $("#j1MaxNew").val()
2372 |           $.ajax({
2373 |             type: 'GET',
2374 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2375 |             cache: false,
2376 |             success: function() {
2377 |               $('#j1MaxSet').modal('hide')
2378 |             }
2379 |           })
2380 |         }
2381 |       })
2382 | 
2383 |       $('#j2MaxSave').click(function() {
2384 |         if ( $("#j2MaxNew").val() > jointLimit || $("#j2MaxNew").val() < -jointLimit) {
2385 |           $('.limitWarning').show()
2386 |         } else {
2387 |           $('.limitWarning').hide()
2388 |           var limit_id = 12
2389 |           var limit_vl = $("#j2MaxNew").val()
2390 |           $.ajax({
2391 |             type: 'GET',
2392 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2393 |             cache: false,
2394 |             success: function() {
2395 |               $('#j2MaxSet').modal('hide')
2396 |             }
2397 |           })
2398 |         }
2399 |       })
2400 | 
2401 |       $('#j3MaxSave').click(function() {
2402 |         if ( $("#j3MaxNew").val() > jointLimit || $("#j3MaxNew").val() < -jointLimit) {
2403 |           $('.limitWarning').show()
2404 |         } else {
2405 |           $('.limitWarning').hide()
2406 |           var limit_id = 13
2407 |           var limit_vl = $("#j3MaxNew").val()
2408 |           $.ajax({
2409 |             type: 'GET',
2410 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2411 |             cache: false,
2412 |             success: function() {
2413 |               $('#j3MaxSet').modal('hide')
2414 |             }
2415 |           })
2416 |         }
2417 |       })
2418 | 
2419 |       $('#j4MaxSave').click(function() {
2420 |         if ( $("#j4MaxNew").val() > jointLimit || $("#j4MaxNew").val() < -jointLimit) {
2421 |           $('.limitWarning').show()
2422 |         } else {
2423 |           $('.limitWarning').hide()
2424 |           var limit_id = 14
2425 |           var limit_vl = $("#j4MaxNew").val()
2426 |           $.ajax({
2427 |             type: 'GET',
2428 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2429 |             cache: false,
2430 |             success: function() {
2431 |               $('#j4MaxSet').modal('hide')
2432 |             }
2433 |           })
2434 |         }
2435 |       })
2436 | 
2437 |       $('#j5MaxSave').click(function() {
2438 |         if ( $("#j5MaxNew").val() > jointLimit || $("#j5MaxNew").val() < -jointLimit) {
2439 |           $('.limitWarning').show()
2440 |         } else {
2441 |           $('.limitWarning').hide()
2442 |           var limit_id = 15
2443 |           var limit_vl = $("#j5MaxNew").val()
2444 |           $.ajax({
2445 |             type: 'GET',
2446 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2447 |             cache: false,
2448 |             success: function() {
2449 |               $('#j5MaxSet').modal('hide')
2450 |             }
2451 |           })
2452 |         }
2453 |       })
2454 | 
2455 |       $('#j6MaxSave').click(function() {
2456 |         if ( $("#j6MaxNew").val() > jointLimit || $("#j6MaxNew").val() < -jointLimit) {
2457 |           $('.limitWarning').show()
2458 |         } else {
2459 |           $('.limitWarning').hide()
2460 |           var limit_id = 16
2461 |           var limit_vl = $("#j6MaxNew").val()
2462 |           $.ajax({
2463 |             type: 'GET',
2464 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2465 |             cache: false,
2466 |             success: function() {
2467 |               $('#j6MaxSet').modal('hide')
2468 |             }
2469 |           })
2470 |         }
2471 |       })
2472 | 
2473 |       $('#j1MinSave').click(function() {
2474 |         if ( $("#j1MinNew").val() > jointLimit || $("#j1MinNew").val() < -jointLimit) {
2475 |           $('.limitWarning').show()
2476 |         } else {
2477 |           $('.limitWarning').hide()
2478 |           var limit_id = 21
2479 |           var limit_vl = $("#j1MinNew").val()
2480 |           $.ajax({
2481 |             type: 'GET',
2482 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2483 |             cache: false,
2484 |             success: function() {
2485 |               $('#j1MinSet').modal('hide')
2486 |             }
2487 |           })
2488 |         }
2489 |       })
2490 | 
2491 |       $('#j2MinSave').click(function() {
2492 |         if ( $("#j2MinNew").val() > jointLimit || $("#j2MinNew").val() < -jointLimit) {
2493 |           $('.limitWarning').show()
2494 |         } else {
2495 |           $('.limitWarning').hide()
2496 |           var limit_id = 22
2497 |           var limit_vl = $("#j2MinNew").val()
2498 |           $.ajax({
2499 |             type: 'GET',
2500 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2501 |             cache: false,
2502 |             success: function() {
2503 |               $('#j2MinSet').modal('hide')
2504 |             }
2505 |           })
2506 |         }
2507 |       })
2508 | 
2509 |       $('#j3MinSave').click(function() {
2510 |         if ( $("#j3MinNew").val() > jointLimit || $("#j3MinNew").val() < -jointLimit) {
2511 |           $('.limitWarning').show()
2512 |         } else {
2513 |           $('.limitWarning').hide()
2514 |           var limit_id = 23
2515 |           var limit_vl = $("#j3MinNew").val()
2516 |           $.ajax({
2517 |             type: 'GET',
2518 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2519 |             cache: false,
2520 |             success: function() {
2521 |               $('#j3MinSet').modal('hide')
2522 |             }
2523 |           })
2524 |         }
2525 |       })
2526 | 
2527 |       $('#j4MinSave').click(function() {
2528 |         if ( $("#j4MinNew").val() > jointLimit || $("#j4MinNew").val() < -jointLimit) {
2529 |           $('.limitWarning').show()
2530 |         } else {
2531 |           $('.limitWarning').hide()
2532 |           var limit_id = 24
2533 |           var limit_vl = $("#j4MinNew").val()
2534 |           $.ajax({
2535 |             type: 'GET',
2536 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2537 |             cache: false,
2538 |             success: function() {
2539 |               $('#j4MinSet').modal('hide')
2540 |             }
2541 |           })
2542 |         }
2543 |       })
2544 | 
2545 |       $('#j5MinSave').click(function() {
2546 |         if ( $("#j5MinNew").val() > jointLimit || $("#j5MinNew").val() < -jointLimit) {
2547 |           $('.limitWarning').show()
2548 |         } else {
2549 |           $('.limitWarning').hide()
2550 |           var limit_id = 25
2551 |           var limit_vl = $("#j5MinNew").val()
2552 |           $.ajax({
2553 |             type: 'GET',
2554 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2555 |             cache: false,
2556 |             success: function() {
2557 |               $('#j5MinSet').modal('hide')
2558 |             }
2559 |           })
2560 |         }
2561 |       })
2562 | 
2563 |       $('#j6MinSave').click(function() {
2564 |         if ( $("#j6MinNew").val() > jointLimit || $("#j6MinNew").val() < -jointLimit) {
2565 |           $('.limitWarning').show()
2566 |         } else {
2567 |           $('.limitWarning').hide()
2568 |           var limit_id = 26
2569 |           var limit_vl = $("#j6MinNew").val()
2570 |           $.ajax({
2571 |             type: 'GET',
2572 |             url: `/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}`,
2573 |             cache: false,
2574 |             success: function() {
2575 |               $('#j6MinSet').modal('hide')
2576 |             }
2577 |           })
2578 |         }
2579 |       })
2580 | 
2581 |     })
2582 | 
2583 |   </script>
2584 | 
2585 | </body>
2586 | </html>


--------------------------------------------------------------------------------
/examples/webtouchpad.htm:
--------------------------------------------------------------------------------
  1 | <html>
  2 | <head>
  3 |   <title>WEBTOUCHPAD</title>
  4 |   <meta charset="utf-8">
  5 |   <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
  6 |   <script src="https://ajax.googleapis.com/ajax/libs/jquery/3.2.1/jquery.min.js"></script>
  7 |   <script src="http://rawgit.com/jeromeetienne/virtualjoystick.js/master/virtualjoystick.js"></script>
  8 |   <link href="https://fonts.googleapis.com/css?family=Oswald:400" rel="stylesheet">
  9 |   <style>
 10 |     body {
 11 |       overflow: hidden;
 12 |       padding: 0;
 13 |       margin: 0;
 14 |       background-color: #BBB;
 15 |     }
 16 |     #touchpad-info {
 17 |       position: absolute;
 18 |       top: 0px;
 19 |       width: 100%;
 20 |       padding-top: 5px;
 21 |       text-align: center;
 22 |       color: #428bca;
 23 |       font-family: 'Oswald', sans-serif;
 24 |       font-size: 27px;
 25 |     }
 26 |     #touchpad-container {
 27 |       width: 100%;
 28 |       height: 100%;
 29 |       overflow: hidden;
 30 |       padding: 0;
 31 |       margin: 0;
 32 |       -webkit-user-select: none;
 33 |       -moz-user-select: none;
 34 |     }
 35 |   </style>
 36 | </head>
 37 | <body oncontextmenu="return false;">
 38 | 
 39 |   <div id="touchpad-info"></div>
 40 |   <div id="touchpad-container"></div>
 41 | 
 42 |   <script>
 43 | 
 44 |     $(document).ready(function() {
 45 | 
 46 |       var refresh
 47 |       var displacement  = document.getElementById('touchpad-info');
 48 |       var joystick = new VirtualJoystick({ container: document.getElementById('touchpad-container'), mouseSupport: true, })
 49 | 
 50 |       displacement.innerHTML  = ' dx: ' + (-1 * Math.round(joystick.deltaY() / 2)) + 'mm; dy: ' + (-1 * Math.round(joystick.deltaX() / 2)) + 'mm;' 
 51 | 
 52 |       // Keep the motion
 53 | 
 54 |       function webkeep() {
 55 |         console.log('KEEP motion')
 56 |         $.ajax({
 57 |           type: 'GET',
 58 |           url: '/KAREL/webkeep',
 59 |           cache: false,
 60 |           success: function() {
 61 |             console.log('Send KEEP is successful')
 62 |           }
 63 |         })
 64 |       }
 65 | 
 66 |       // Stop the motion
 67 | 
 68 |       function webstop() {
 69 |         console.log('STOP(999) motion')
 70 |         $.ajax({
 71 |           type: 'GET',
 72 |           url: '/KAREL/webstop',
 73 |           cache: false,
 74 |           success: function() {
 75 |             console.log('Send STOP(999) is successful')
 76 |           }
 77 |         })
 78 |       }
 79 | 
 80 |       // clearInterval
 81 | 
 82 |       function webclrInt() {
 83 |         if (refresh !== undefined) {
 84 |           clearInterval(refresh)
 85 |           console.log('refresh is cleared')
 86 |         } else {
 87 |           console.log('refresh is undefined')
 88 |         }
 89 |       }
 90 | 
 91 |       // Start motion
 92 | 
 93 |       $('#touchpad-container').on('mousedown touchstart', function() {
 94 |         webclrInt()
 95 |         $.getJSON("/KAREL/webmonitor", function(data){
 96 |           function sendDisplacement(){
 97 |             var mtn_mod = '3' 
 98 |             var coord1 = data.pose[0] + (-1 * Math.round(joystick.deltaY() / 2))
 99 |             var coord2 = data.pose[1] + (-1 * Math.round(joystick.deltaX() / 2))
100 |             var coord3 = data.pose[2]
101 |             var coord4 = data.pose[3]
102 |             var coord5 = data.pose[4]
103 |             var coord6 = data.pose[5] 
104 |             displacement.innerHTML  = ' dx: ' + (-1 * Math.round(joystick.deltaY() / 2)) + 'mm; dy: ' + (-1 * Math.round(joystick.deltaX() / 2)) + 'mm;'
105 |             $.ajax({
106 |               type: 'GET',
107 |               url: `/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}`,
108 |               cache: false,
109 |               success: function() {
110 |               console.log('Touch is successfull send')
111 |               }
112 |             })
113 |             webkeep()			
114 |           }
115 |           refresh = setInterval(sendDisplacement, 100)
116 |         })
117 |       }).on('mouseup touchend', function() {
118 |         webstop()
119 |         webclrInt()
120 |       })
121 | 
122 |     })
123 | 
124 |   </script>
125 | 
126 | </body>
127 | </html>


--------------------------------------------------------------------------------
/karel/webabort.kl:
--------------------------------------------------------------------------------
 1 | PROGRAM webabort
 2 | %COMMENT = 'v3'
 3 | %NOLOCKGROUP
 4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
 5 | %NOBUSYLAMP
 6 | 
 7 | CONST
 8 | 	
 9 | 	PR_WEBJOINTS = 40
10 | 	PR_WEBXYZWPR = 41
11 | 
12 | 	R_WEBKEEP = 42
13 | 
14 | VAR
15 | 
16 | 	STATUS: INTEGER
17 | 	return_code: INTEGER
18 | 	
19 | 	cur_jpos: JOINTPOS
20 | 	cur_pos: XYZWPR
21 | 
22 | BEGIN
23 | 
24 | 	WRITE (CHR(128),CHR(137))
25 | 
26 | 	ABORT_TASK('*ALL*', TRUE, TRUE, STATUS)
27 | 
28 | 	IF (STATUS <> 0 ) THEN
29 | 		WRITE ('ABORT_TASK built-IN failed WITH STATUS = ', STATUS, CR)
30 | 	ENDIF
31 | 	
32 | 	cur_jpos = CURJPOS(0,0)
33 | 	cur_pos = CURPOS(0,0)
34 | 	
35 | 	SET_JPOS_REG(PR_WEBJOINTS, cur_jpos, STATUS)
36 | 
37 | 	IF (STATUS <> 0 ) THEN
38 | 		WRITE ('SET_JPOS_REG built-IN failed in ABORT task WITH STATUS = ', STATUS, CR)
39 | 	ENDIF
40 | 	
41 | 	SET_POS_REG(PR_WEBXYZWPR, cur_pos, STATUS)
42 | 
43 | 	IF (STATUS <> 0 ) THEN
44 | 		WRITE ('SET_POS_REG built-IN failed in ABORT task WITH STATUS = ', STATUS, CR)
45 | 	ENDIF
46 | 	
47 | 	FLG[1] = OFF
48 | 	FLG[2] = OFF
49 | 	FLG[3] = OFF
50 | 	FLG[4] = OFF
51 | 	FLG[5] = OFF
52 | 	FLG[6] = OFF
53 | 	FLG[7] = OFF
54 | 	FLG[8] = OFF
55 | 
56 | 	SET_REAL_REG(R_WEBKEEP, 999, STATUS)
57 | 
58 | 	IF (STATUS <> 0 ) THEN
59 | 		WRITE ('SET_REL_REG built-IN 3 failed: ', STATUS, CR)
60 | 	ENDIF
61 | 
62 | 	CLEAR('webmonitor.pc', STATUS)
63 | 
64 | 	IF (STATUS <> 0 ) THEN
65 | 		WRITE ('CLEAR  built-IN failed: ', STATUS, CR)
66 | 	ENDIF
67 | 
68 | 	return_code = 204
69 | 
70 | END webabort
71 | 


--------------------------------------------------------------------------------
/karel/webcheck.kl:
--------------------------------------------------------------------------------
  1 | PROGRAM webcheck
  2 | %COMMENT = 'v4'
  3 | %NOLOCKGROUP
  4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
  5 | %NOBUSYLAMP
  6 | 
  7 | CONST
  8 | 
  9 | 	PR_WEBJOINTS = 40
 10 | 	PR_WEBXYZWPR = 41
 11 | 
 12 | 	R_WEBKEEP = 42
 13 | 
 14 | 	R_WEBXMAX = 43	
 15 | 	R_WEBYMAX = 44
 16 | 	R_WEBZMAX = 45
 17 | 
 18 | 	R_WEBXMIN = 46
 19 | 	R_WEBYMIN = 47
 20 | 	R_WEBZMIN = 48
 21 | 
 22 | 	R_WEBCOORD1 = 51
 23 | 	R_WEBCOORD2 = 52
 24 | 	R_WEBCOORD3 = 53
 25 | 	R_WEBCOORD4 = 54
 26 | 	R_WEBCOORD5 = 55
 27 | 	R_WEBCOORD6 = 56
 28 | 
 29 | 	R_WEBJ1MAX = 61	
 30 | 	R_WEBJ2MAX = 62
 31 | 	R_WEBJ3MAX = 63
 32 | 	R_WEBJ4MAX = 64
 33 | 	R_WEBJ5MAX = 65
 34 | 	R_WEBJ6MAX = 66
 35 | 
 36 | 	R_WEBJ1MIN = 71	
 37 | 	R_WEBJ2MIN = 72
 38 | 	R_WEBJ3MIN = 73
 39 | 	R_WEBJ4MIN = 74
 40 | 	R_WEBJ5MIN = 75
 41 | 	R_WEBJ6MIN = 76
 42 | 	
 43 | VAR
 44 | 
 45 | 	STATUS: INTEGER
 46 | 
 47 | 	cur_jpos: JOINTPOS
 48 | 	cur_pos: XYZWPR
 49 | 	
 50 | 	new_jpos: JOINTPOS
 51 | 	new_pos: XYZWPREXT
 52 | 
 53 | 	val_new_jpos: ARRAY[6] OF REAL
 54 | 
 55 | 	reach_ab: INTEGER
 56 | 
 57 | 	limit_x: INTEGER
 58 | 	limit_y: INTEGER
 59 | 	limit_z: INTEGER
 60 | 
 61 | 	limit_j1:  INTEGER
 62 | 	limit_j2:  INTEGER
 63 | 	limit_j3:  INTEGER
 64 | 	limit_j4:  INTEGER
 65 | 	limit_j5:  INTEGER
 66 | 	limit_j6:  INTEGER
 67 | 	
 68 | 	config_ref: INTEGER
 69 | 	out_pos: POSITION
 70 | 	wjnt_cfg: CONFIG
 71 | 	ext_ang: ARRAY[3] OF REAL
 72 | 
 73 | 	keep_flag: BOOLEAN
 74 | 
 75 | 	keep_int: INTEGER
 76 | 
 77 | 	keep_real: REAL
 78 | 
 79 | 	xmax_flag: BOOLEAN
 80 | 	ymax_flag: BOOLEAN
 81 | 	zmax_flag: BOOLEAN
 82 | 
 83 | 	xmin_flag: BOOLEAN
 84 | 	ymin_flag: BOOLEAN
 85 | 	zmin_flag: BOOLEAN
 86 | 
 87 | 	j1max_flag: BOOLEAN
 88 | 	j2max_flag: BOOLEAN
 89 | 	j3max_flag: BOOLEAN
 90 | 	j4max_flag: BOOLEAN
 91 | 	j5max_flag: BOOLEAN
 92 | 	j6max_flag: BOOLEAN
 93 | 	
 94 | 	j1min_flag: BOOLEAN
 95 | 	j2min_flag: BOOLEAN
 96 | 	j3min_flag: BOOLEAN
 97 | 	j4min_flag: BOOLEAN
 98 | 	j5min_flag: BOOLEAN
 99 | 	j6min_flag: BOOLEAN
100 | 		
101 | 	xmax_int: INTEGER
102 | 	ymax_int: INTEGER
103 | 	zmax_int: INTEGER
104 | 
105 | 	xmin_int: INTEGER
106 | 	ymin_int: INTEGER
107 | 	zmin_int: INTEGER
108 | 
109 | 	j1max_int: INTEGER
110 | 	j2max_int: INTEGER
111 | 	j3max_int: INTEGER
112 | 	j4max_int: INTEGER
113 | 	j5max_int: INTEGER
114 | 	j6max_int: INTEGER
115 | 
116 | 	j1min_int: INTEGER
117 | 	j2min_int: INTEGER
118 | 	j3min_int: INTEGER
119 | 	j4min_int: INTEGER
120 | 	j5min_int: INTEGER
121 | 	j6min_int: INTEGER
122 | 			
123 | 	xmax_real: REAL
124 | 	ymax_real: REAL
125 | 	zmax_real: REAL
126 | 
127 | 	xmin_real: REAL
128 | 	ymin_real: REAL
129 | 	zmin_real: REAL
130 | 
131 | 	j1max_real: REAL
132 | 	j2max_real: REAL
133 | 	j3max_real: REAL
134 | 	j4max_real: REAL
135 | 	j5max_real: REAL
136 | 	j6max_real: REAL
137 | 
138 | 	j1min_real: REAL
139 | 	j2min_real: REAL
140 | 	j3min_real: REAL
141 | 	j4min_real: REAL
142 | 	j5min_real: REAL
143 | 	j6min_real: REAL
144 | 	
145 | ROUTINE checkLimit
146 | 
147 | BEGIN
148 | 	
149 | 	--limit the XYZ direction
150 | 	
151 | 	IF xmin_flag THEN
152 | 		IF new_pos.x <= xmin_real THEN
153 | 			FLG[8] = ON
154 | 			limit_x = 6
155 | 		ENDIF
156 | 	ELSE
157 | 		IF new_pos.x <= xmin_int THEN
158 | 			FLG[8] = ON
159 | 			limit_x = 6
160 | 		ENDIF
161 | 	ENDIF
162 | 
163 | 	IF xmax_flag THEN
164 | 		IF new_pos.x >= xmax_real THEN
165 | 			FLG[8] = ON
166 | 			limit_x = 3
167 | 		ENDIF
168 | 	ELSE				
169 | 		IF new_pos.x >= xmax_int THEN
170 | 			FLG[8] = ON
171 | 			limit_x = 3
172 | 		ENDIF
173 | 	ENDIF
174 | 
175 | 	IF ymin_flag THEN
176 | 		IF new_pos.y <= ymin_real THEN
177 | 			FLG[8] = ON
178 | 			limit_y = 6
179 | 		ENDIF
180 | 	ELSE			
181 | 		IF new_pos.y <= ymin_int THEN
182 | 			FLG[8] = ON
183 | 			limit_y = 6
184 | 		ENDIF
185 | 	ENDIF
186 | 
187 | 	IF ymax_flag THEN
188 | 		IF new_pos.y >= ymax_real THEN
189 | 			FLG[8] = ON
190 | 			limit_y = 3
191 | 		ENDIF
192 | 	ELSE				
193 | 		IF new_pos.y >= ymax_int THEN
194 | 			FLG[8] = ON
195 | 			limit_y = 3
196 | 		ENDIF
197 | 	ENDIF
198 | 
199 | 	IF zmin_flag THEN
200 | 		IF new_pos.z <= zmin_real THEN
201 | 			FLG[8] = ON
202 | 			limit_z = 6
203 | 		ENDIF
204 | 	ELSE			
205 | 		IF new_pos.z <= zmin_int THEN
206 | 			FLG[8] = ON
207 | 			limit_z = 6
208 | 		ENDIF
209 | 	ENDIF
210 | 
211 | 	IF zmax_flag THEN
212 | 		IF new_pos.z >= zmax_real THEN
213 | 			FLG[8] = ON
214 | 			limit_z = 3
215 | 		ENDIF
216 | 	ELSE				
217 | 		IF new_pos.z >= zmax_int THEN
218 | 			FLG[8] = ON
219 | 			limit_z = 3
220 | 		ENDIF
221 | 	ENDIF
222 | 
223 | 	--limit the joints
224 | 
225 | 	IF UNINIT( val_new_jpos[1] ) THEN 
226 | 		val_new_jpos[1] = 0
227 | 	ELSE
228 | 		IF j1min_flag THEN
229 | 			IF val_new_jpos[1] <= j1min_real THEN
230 | 				FLG[8] = ON
231 | 				limit_j1 = 6
232 | 			ENDIF
233 | 		ELSE
234 | 			IF val_new_jpos[1] <= j1min_int THEN
235 | 				FLG[8] = ON
236 | 				limit_j1 = 6
237 | 			ENDIF
238 | 		ENDIF
239 | 		IF j1max_flag THEN
240 | 			IF val_new_jpos[1] >= j1max_real THEN
241 | 				FLG[8] = ON
242 | 				limit_j1 = 3
243 | 			ENDIF
244 | 		ELSE
245 | 			IF val_new_jpos[1] >= j1max_int THEN
246 | 				FLG[8] = ON
247 | 				limit_j1 = 3
248 | 			ENDIF
249 | 		ENDIF
250 | 	ENDIF
251 | 
252 | 	IF UNINIT( val_new_jpos[2] ) THEN 
253 | 		val_new_jpos[2] = 0
254 | 	ELSE	
255 | 		IF j2min_flag THEN
256 | 			IF val_new_jpos[2] <= j2min_real THEN
257 | 				FLG[8] = ON
258 | 				limit_j2 = 6
259 | 			ENDIF
260 | 		ELSE
261 | 			IF val_new_jpos[2] <= j2min_int THEN
262 | 				FLG[8] = ON
263 | 				limit_j2 = 6
264 | 			ENDIF
265 | 		ENDIF	
266 | 		IF j2max_flag THEN
267 | 			IF val_new_jpos[2] >= j2max_real THEN
268 | 				FLG[8] = ON
269 | 				limit_j2 = 3
270 | 			ENDIF
271 | 		ELSE
272 | 			IF val_new_jpos[2] >= j2max_int THEN
273 | 				FLG[8] = ON
274 | 				limit_j2 = 3
275 | 			ENDIF
276 | 		ENDIF
277 | 	ENDIF
278 | 
279 | 	IF UNINIT( val_new_jpos[3] ) THEN 
280 | 		val_new_jpos[3] = 0
281 | 	ELSE	
282 | 		IF j3min_flag THEN
283 | 			IF val_new_jpos[3] <= j3min_real THEN
284 | 				FLG[8] = ON
285 | 				limit_j3 = 6
286 | 			ENDIF
287 | 		ELSE
288 | 			IF val_new_jpos[3] <= j3min_int THEN
289 | 				FLG[8] = ON
290 | 				limit_j3 = 6
291 | 			ENDIF
292 | 		ENDIF	
293 | 		IF j3max_flag THEN
294 | 			IF val_new_jpos[3] >= j3max_real THEN
295 | 				FLG[8] = ON
296 | 				limit_j3 = 3
297 | 			ENDIF
298 | 		ELSE
299 | 			IF val_new_jpos[3] >= j3max_int THEN
300 | 				FLG[8] = ON
301 | 				limit_j3 = 3
302 | 			ENDIF
303 | 		ENDIF
304 | 	ENDIF
305 | 
306 | 	IF UNINIT( val_new_jpos[4] ) THEN 
307 | 		val_new_jpos[4] = 0
308 | 	ELSE	
309 | 		IF j4min_flag THEN
310 | 			IF val_new_jpos[4] <= j4min_real THEN
311 | 				FLG[8] = ON
312 | 				limit_j4 = 6
313 | 			ENDIF
314 | 		ELSE
315 | 			IF val_new_jpos[4] <= j4min_int THEN
316 | 				FLG[8] = ON
317 | 				limit_j4 = 6
318 | 			ENDIF
319 | 		ENDIF	
320 | 		IF j4max_flag THEN
321 | 			IF val_new_jpos[4] >= j4max_real THEN
322 | 				FLG[8] = ON
323 | 				limit_j4 = 3
324 | 			ENDIF
325 | 		ELSE
326 | 			IF val_new_jpos[4] >= j4max_int THEN
327 | 				FLG[8] = ON
328 | 				limit_j4 = 3
329 | 			ENDIF
330 | 		ENDIF
331 | 	ENDIF
332 | 
333 | 	IF UNINIT( val_new_jpos[5] ) THEN 
334 | 		val_new_jpos[5] = 0
335 | 	ELSE	
336 | 		IF j5min_flag THEN
337 | 			IF val_new_jpos[5] <= j5min_real THEN
338 | 				FLG[8] = ON
339 | 				limit_j5 = 6
340 | 			ENDIF
341 | 		ELSE
342 | 			IF val_new_jpos[5] <= j5min_int THEN
343 | 				FLG[8] = ON
344 | 				limit_j5 = 6
345 | 			ENDIF
346 | 		ENDIF	
347 | 		IF j5max_flag THEN
348 | 			IF val_new_jpos[5] >= j5max_real THEN
349 | 				FLG[8] = ON
350 | 				limit_j5 = 3
351 | 			ENDIF
352 | 		ELSE
353 | 			IF val_new_jpos[5] >= j5max_int THEN
354 | 				FLG[8] = ON
355 | 				limit_j5 = 3
356 | 			ENDIF
357 | 		ENDIF
358 | 	ENDIF
359 | 
360 | 	IF UNINIT( val_new_jpos[6] ) THEN 
361 | 		val_new_jpos[6] = 0
362 | 	ELSE	
363 | 		IF j6min_flag THEN
364 | 			IF val_new_jpos[6] <= j6min_real THEN
365 | 				FLG[8] = ON
366 | 				limit_j6 = 6
367 | 			ENDIF
368 | 		ELSE
369 | 			IF val_new_jpos[6] <= j6min_int THEN
370 | 				FLG[8] = ON
371 | 				limit_j6 = 6
372 | 			ENDIF
373 | 		ENDIF	
374 | 		IF j6max_flag THEN
375 | 			IF val_new_jpos[6] >= j6max_real THEN
376 | 				FLG[8] = ON
377 | 				limit_j6 = 3
378 | 			ENDIF
379 | 		ELSE
380 | 			IF val_new_jpos[6] >= j6max_int THEN
381 | 				FLG[8] = ON
382 | 				limit_j6 = 3
383 | 			ENDIF
384 | 		ENDIF
385 | 	ENDIF
386 | 
387 | END checkLimit
388 | 
389 | BEGIN
390 | 
391 | 	GET_REG(R_WEBKEEP, keep_flag, keep_int, keep_real, STATUS )
392 | 
393 | 	GET_REG(R_WEBXMAX, xmax_flag, xmax_int, xmax_real, STATUS)
394 | 	GET_REG(R_WEBYMAX, ymax_flag, ymax_int, ymax_real, STATUS)
395 | 	GET_REG(R_WEBZMAX, zmax_flag, zmax_int, zmax_real, STATUS)
396 | 	
397 | 	GET_REG(R_WEBXMIN, xmin_flag, xmin_int, xmin_real, STATUS)
398 | 	GET_REG(R_WEBYMIN, ymin_flag, ymin_int, ymin_real, STATUS)
399 | 	GET_REG(R_WEBZMIN, zmin_flag, zmin_int, zmin_real, STATUS)
400 | 
401 | 	GET_REG(R_WEBJ1MAX, j1max_flag, j1max_int, j1max_real, STATUS)
402 | 	GET_REG(R_WEBJ2MAX, j2max_flag, j2max_int, j2max_real, STATUS)
403 | 	GET_REG(R_WEBJ3MAX, j3max_flag, j3max_int, j3max_real, STATUS)
404 | 	GET_REG(R_WEBJ4MAX, j4max_flag, j4max_int, j4max_real, STATUS)
405 | 	GET_REG(R_WEBJ5MAX, j5max_flag, j5max_int, j5max_real, STATUS)
406 | 	GET_REG(R_WEBJ6MAX, j6max_flag, j6max_int, j6max_real, STATUS)
407 | 
408 | 	GET_REG(R_WEBJ1MIN, j1min_flag, j1min_int, j1min_real, STATUS)
409 | 	GET_REG(R_WEBJ2MIN, j2min_flag, j2min_int, j2min_real, STATUS)
410 | 	GET_REG(R_WEBJ3MIN, j3min_flag, j3min_int, j3min_real, STATUS)
411 | 	GET_REG(R_WEBJ4MIN, j4min_flag, j4min_int, j4min_real, STATUS)
412 | 	GET_REG(R_WEBJ5MIN, j5min_flag, j5min_int, j5min_real, STATUS)
413 | 	GET_REG(R_WEBJ6MIN, j6min_flag, j6min_int, j6min_real, STATUS)
414 | 
415 | 	reach_ab = 0
416 | 
417 | 	limit_x = 0
418 | 	limit_y = 0
419 | 	limit_z = 0
420 | 	
421 | 	limit_j1 = 0
422 | 	limit_j2 = 0
423 | 	limit_j3 = 0
424 | 	limit_j4 = 0
425 | 	limit_j5 = 0
426 | 	limit_j6 = 0
427 | 	
428 | 	cur_jpos = CURJPOS(0,0)
429 | 	cur_pos = CURPOS(0,0)	
430 | 
431 | 	--check the new jpos is in range
432 | 	
433 | 	IF FLG[1] OR FLG[2] THEN
434 | 
435 | 		new_jpos = GET_JPOS_REG(PR_WEBJOINTS, STATUS)
436 | 
437 | 		IF (STATUS <> 0 ) THEN
438 | 		
439 | 			WRITE ('GET_JPOS_REG  built-IN failed WITH STATUS = ', STATUS, CR)
440 | 			
441 | 		ELSE
442 | 			
443 | 			IF NOT J_IN_RANGE(new_jpos) THEN		
444 | 				FLG[8] = ON
445 | 				reach_ab = 1
446 | 			ELSE
447 | 				reach_ab = 0
448 | 			ENDIF
449 | 
450 | 			--limit check
451 | 
452 | 			 config_ref = HALF_SOLN
453 | 			
454 | 			JOINT2POS (new_jpos, $UFRAME, $UTOOL, config_ref, out_pos, wjnt_cfg, ext_ang, STATUS)
455 | 
456 | 			new_pos = out_pos --Convert out_pos (POSITION) to XYZWPREXT
457 | 
458 | 			CNV_JPOS_REL( new_jpos, val_new_jpos, STATUS )
459 | 
460 | 			checkLimit
461 | 					
462 | 		ENDIF
463 | 
464 | 	ENDIF
465 | 
466 | 	--check the new pos is in range
467 | 
468 | 	IF FLG[3] OR FLG[4] OR FLG[5] OR FLG[6] THEN
469 | 
470 | 		new_pos = GET_POS_REG(PR_WEBXYZWPR, STATUS)
471 | 
472 | 		IF (STATUS <> 0 ) THEN
473 | 		
474 | 			WRITE ('GET_POS_REG  built-IN failed WITH STATUS = ', STATUS, CR)
475 | 			
476 | 		ELSE
477 | 			
478 | 			IF NOT IN_RANGE(new_pos) THEN
479 | 				FLG[8] = ON
480 | 				reach_ab = 1
481 | 			ELSE
482 | 				reach_ab = 0
483 | 			ENDIF
484 | 
485 | 			--limit check
486 | 
487 | 			 config_ref = FULL_SOLN
488 | 			
489 | 			POS2JOINT (cur_jpos, new_pos, $UFRAME, $UTOOL, config_ref, wjnt_cfg, ext_ang, new_jpos, STATUS)
490 | 			
491 | 			CNV_JPOS_REL( new_jpos, val_new_jpos, STATUS )
492 | 
493 | 			checkLimit
494 | 			
495 | 		ENDIF
496 | 
497 | 	ENDIF		
498 | 
499 | 	IF keep_flag THEN
500 | 		IF keep_real > 5 THEN
501 | 			FLG[8] = ON
502 | 		ENDIF
503 | 	ELSE
504 | 		IF keep_int > 5 THEN
505 | 			FLG[8] = ON
506 | 		ENDIF
507 | 	ENDIF
508 | 
509 | END webcheck


--------------------------------------------------------------------------------
/karel/webcontrol.kl:
--------------------------------------------------------------------------------
  1 | PROGRAM webcontrol
  2 | %COMMENT = 'v4'
  3 | %NOLOCKGROUP
  4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
  5 | %NOBUSYLAMP
  6 | 
  7 | CONST
  8 | 	
  9 | 	PR_WEBJOINTS = 40
 10 | 	PR_WEBXYZWPR = 41
 11 | 	
 12 | 	R_WEBJNUM = 49
 13 | 	
 14 | 	R_WEBCOORD1 = 51
 15 | 	R_WEBCOORD2 = 52
 16 | 	R_WEBCOORD3 = 53
 17 | 	R_WEBCOORD4 = 54
 18 | 	R_WEBCOORD5 = 55
 19 | 	R_WEBCOORD6 = 56
 20 | 
 21 | VAR
 22 | 
 23 | 	STATUS: INTEGER
 24 | 	return_code: INTEGER
 25 | 
 26 | 	str_mtn_mod: STRING[127]
 27 | 	int_mtn_mod: INTEGER
 28 | 
 29 | 	str_coord1: STRING[127]
 30 | 	str_coord2: STRING[127]
 31 | 	str_coord3: STRING[127]
 32 | 	str_coord4: STRING[127]
 33 | 	str_coord5: STRING[127]
 34 | 	str_coord6: STRING[127]
 35 | 
 36 | 	coord: ARRAY[9] OF REAL
 37 | 	cur_jpos_val: ARRAY[9] OF REAL
 38 | 	
 39 | 	cur_jpos: JOINTPOS
 40 | 	cur_pos: XYZWPR
 41 | 	
 42 | 	new_jpos: JOINTPOS
 43 | 	new_pos: XYZWPR
 44 | 
 45 | 	cur_joint: INTEGER
 46 | 	count: INTEGER
 47 | 
 48 | ROUTINE setreg
 49 | 
 50 | BEGIN
 51 | 	
 52 | 	SET_REAL_REG( R_WEBCOORD1, coord[1], STATUS)
 53 | 	IF (STATUS <> 0 ) THEN
 54 | 		WRITE ('WEBCONTROL SET_REAL_REG coord1  failed = ', STATUS, CR)
 55 | 	ENDIF
 56 | 	
 57 | 	SET_REAL_REG( R_WEBCOORD2, coord[2], STATUS)
 58 | 	IF (STATUS <> 0 ) THEN
 59 | 		WRITE ('WEBCONTROL SET_REAL_REG coord2  failed = ', STATUS, CR)
 60 | 	ENDIF
 61 | 	
 62 | 	SET_REAL_REG( R_WEBCOORD3, coord[3], STATUS)
 63 | 	IF (STATUS <> 0 ) THEN
 64 | 		WRITE ('WEBCONTROL SET_REAL_REG coord3  failed = ', STATUS, CR)
 65 | 	ENDIF
 66 | 	
 67 | 	SET_REAL_REG( R_WEBCOORD4, coord[4], STATUS)
 68 | 	IF (STATUS <> 0 ) THEN
 69 | 		WRITE ('WEBCONTROL SET_REAL_REG coord4  failed = ', STATUS, CR)
 70 | 	ENDIF
 71 | 	
 72 | 	SET_REAL_REG( R_WEBCOORD5, coord[5], STATUS)
 73 | 	IF (STATUS <> 0 ) THEN
 74 | 		WRITE ('WEBCONTROL SET_REAL_REG coord5  failed = ', STATUS, CR)
 75 | 	ENDIF
 76 | 	
 77 | 	SET_REAL_REG( R_WEBCOORD6, coord[6], STATUS)
 78 | 	IF (STATUS <> 0 ) THEN
 79 | 		WRITE ('WEBCONTROL SET_REAL_REG coord6  failed = ', STATUS, CR)
 80 | 	ENDIF
 81 | 
 82 | END setreg
 83 | 
 84 | BEGIN
 85 | 
 86 | 	WRITE (CHR(128),CHR(137))
 87 | 
 88 | 	cur_jpos = CURJPOS(0,0)
 89 | 	cur_pos = CURPOS(0,0)
 90 | 
 91 | 	CNV_JPOS_REL(cur_jpos, cur_jpos_val, STATUS)
 92 | 
 93 | 	cur_joint = 9
 94 | 
 95 | 	FOR count = 9 DOWNTO 1 DO
 96 | 		IF UNINIT ( cur_jpos_val[count] ) THEN cur_joint = cur_joint - 1; ENDIF
 97 | 	ENDFOR
 98 | 
 99 | 	SET_INT_REG(R_WEBJNUM, cur_joint, STATUS)
100 | 	IF (STATUS <> 0 ) THEN		
101 | 		WRITE ('SET the NUMBER OF JOINTS is  failed = ', STATUS, CR)		
102 | 	ENDIF
103 | 
104 | 	CNV_STR_INT(str_mtn_mod, int_mtn_mod)
105 | 
106 | 	CNV_STR_REAL(str_coord1, coord[1])
107 | 	CNV_STR_REAL(str_coord2, coord[2])
108 | 	CNV_STR_REAL(str_coord3, coord[3])
109 | 	CNV_STR_REAL(str_coord4, coord[4])
110 | 	CNV_STR_REAL(str_coord5, coord[5])
111 | 	CNV_STR_REAL(str_coord6, coord[6])
112 | 	coord[7] = 0
113 | 	coord[8] = 0
114 | 	coord[9] = 0
115 | 	
116 | 	SELECT int_mtn_mod OF
117 | 
118 | 		CASE(1): --Absolute motion in Joint space - joint interpolation
119 | 
120 | 			CNV_REL_JPOS(coord, new_jpos, STATUS)	
121 | 			IF (STATUS <> 0 ) THEN		
122 | 				WRITE ('WEBCONTROL CNV_REL_JPOS failed = ', STATUS, CR)		
123 | 			ELSE	
124 | 				SET_JPOS_REG(PR_WEBJOINTS, new_jpos, STATUS)			
125 | 				IF (STATUS <> 0 ) THEN			
126 | 					WRITE ('WEBCONTROL SET_JPOS_REG failed = ', STATUS, CR)			
127 | 				ELSE			
128 | 					FLG[1] = ON
129 | 					FLG[7] = ON				
130 | 				ENDIF
131 | 			ENDIF
132 | 		
133 | 			return_code = 204
134 | 
135 | 		CASE(2): --Relative motion in Joint space - joint interpolation
136 | 
137 | 			setreg
138 | 			
139 | 			SET_JPOS_REG(PR_WEBJOINTS, cur_jpos, STATUS)
140 | 			IF (STATUS <> 0 ) THEN			
141 | 				WRITE ('WEBCONTROL SET_JPOS_REG failed = ', STATUS, CR)			
142 | 			ELSE
143 | 				FLG[2] = ON
144 | 				FLG[7] = ON
145 | 			ENDIF
146 | 		
147 | 			return_code = 204
148 | 
149 | 		CASE(3): --Absolute motion in Cartesion space -  linear interpolation
150 | 			
151 | 			new_pos = cur_pos --Keep the current configuration
152 | 
153 | 			new_pos.x = coord[1]
154 | 			new_pos.y = coord[2]
155 | 			new_pos.z = coord[3]
156 | 			new_pos.w = coord[4]
157 | 			new_pos.p = coord[5]
158 | 			new_pos.r = coord[6]
159 | 
160 | 			SET_POS_REG(PR_WEBXYZWPR, new_pos, STATUS)		
161 | 			IF (STATUS <> 0 ) THEN		
162 | 				WRITE ('WEBCONTROL SET_POS_REG  failed = ', STATUS, CR)		
163 | 			ELSE	
164 | 				FLG[3] = ON
165 | 				FLG[7] = ON
166 | 			ENDIF
167 | 		
168 | 			return_code = 204
169 | 
170 | 		CASE(4): --Absolute motion in Cartesion space -  joint interpolation
171 | 			
172 | 			new_pos = cur_pos --Keep the current configuration
173 | 
174 | 			new_pos.x = coord[1]
175 | 			new_pos.y = coord[2]
176 | 			new_pos.z = coord[3]
177 | 			new_pos.w = coord[4]
178 | 			new_pos.p = coord[5]
179 | 			new_pos.r = coord[6]
180 | 
181 | 			SET_POS_REG(PR_WEBXYZWPR, new_pos, STATUS)		
182 | 			IF (STATUS <> 0 ) THEN		
183 | 				WRITE ('WEBCONTROL SET_POS_REG  failed = ', STATUS, CR)		
184 | 			ELSE	
185 | 				FLG[4] = ON
186 | 				FLG[7] = ON
187 | 			ENDIF
188 | 		
189 | 			return_code = 204
190 | 			
191 | 		CASE(5): --Relative motion in Cartesion space - linear interpolation
192 | 		
193 | 			setreg
194 | 			
195 | 			SET_POS_REG(PR_WEBXYZWPR, cur_pos, STATUS)	
196 | 			IF (STATUS <> 0 ) THEN	
197 | 				WRITE ('WEBCONTROL SET_POS_REG  failed = ', STATUS, CR)
198 | 			ELSE
199 | 				FLG[5] = ON
200 | 				FLG[7] = ON
201 | 			ENDIF
202 | 		
203 | 			return_code = 204
204 | 
205 | 		CASE(6): --Relative motion in Cartesion space - joint interpolation
206 | 		
207 | 			setreg
208 | 			
209 | 			SET_POS_REG(PR_WEBXYZWPR, cur_pos, STATUS)			
210 | 			IF (STATUS <> 0 ) THEN			
211 | 				WRITE ('WEBCONTROL SET_POS_REG  failed = ', STATUS, CR)
212 | 			ELSE
213 | 				FLG[6] = ON
214 | 				FLG[7] = ON
215 | 			ENDIF
216 | 		
217 | 			return_code = 204
218 | 
219 | 		ELSE:
220 | 
221 | 			WRITE('WEBCONTROL ERROR',CR)
222 | 
223 | 			return_code = 204
224 | 
225 | 	ENDSELECT
226 | 	
227 | END webcontrol


--------------------------------------------------------------------------------
/karel/webkeep.kl:
--------------------------------------------------------------------------------
 1 | PROGRAM webkeep
 2 | %COMMENT = 'v2'
 3 | %NOLOCKGROUP
 4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
 5 | %NOBUSYLAMP
 6 | 
 7 | CONST
 8 | 
 9 | 	R_WEBKEEP = 42
10 | 
11 | VAR
12 | 
13 | 	STATUS: INTEGER
14 | 	return_code: INTEGER
15 | 	
16 | BEGIN
17 | 	
18 | 	SET_REAL_REG(R_WEBKEEP, 0, STATUS)
19 | 	return_code = 204
20 | 	
21 | END webkeep


--------------------------------------------------------------------------------
/karel/weblimit.kl:
--------------------------------------------------------------------------------
  1 | PROGRAM weblimit
  2 | %COMMENT = 'v1'
  3 | %NOLOCKGROUP
  4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
  5 | %NOBUSYLAMP
  6 | 
  7 | CONST
  8 | 
  9 | 	R_WEBXMAX = 43	
 10 | 	R_WEBYMAX = 44
 11 | 	R_WEBZMAX = 45
 12 | 
 13 | 	R_WEBXMIN = 46
 14 | 	R_WEBYMIN = 47
 15 | 	R_WEBZMIN = 48
 16 | 	
 17 | 	R_WEBJ1MAX = 61	
 18 | 	R_WEBJ2MAX = 62
 19 | 	R_WEBJ3MAX = 63
 20 | 	R_WEBJ4MAX = 64
 21 | 	R_WEBJ5MAX = 65
 22 | 	R_WEBJ6MAX = 66
 23 | 
 24 | 	R_WEBJ1MIN = 71	
 25 | 	R_WEBJ2MIN = 72
 26 | 	R_WEBJ3MIN = 73
 27 | 	R_WEBJ4MIN = 74
 28 | 	R_WEBJ5MIN = 75
 29 | 	R_WEBJ6MIN = 76
 30 | 
 31 | VAR
 32 | 
 33 | 	STATUS: INTEGER
 34 | 	return_code: INTEGER
 35 | 	
 36 | 	str_limit_id: STRING[127]
 37 | 	str_limit_vl: STRING[127]
 38 | 
 39 | 	limit_id: REAL
 40 | 	limit_vl: REAL
 41 | 	limit_no: REAL
 42 | 
 43 | BEGIN
 44 | 	
 45 | 	limit_no = 1
 46 | 	
 47 | 	CNV_STR_REAL(str_limit_id, limit_id)
 48 | 	CNV_STR_REAL(str_limit_vl, limit_vl)
 49 | 
 50 | 	IF UNINIT( limit_vl ) THEN limit_vl = 10000; limit_no = -1; ENDIF
 51 | 	
 52 | 	IF (limit_id = 1) THEN
 53 | 		SET_REAL_REG(R_WEBXMAX, limit_vl, STATUS)
 54 | 		IF (STATUS <> 0 ) THEN
 55 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 1 task: ', STATUS, CR)
 56 | 		ENDIF
 57 | 	ENDIF
 58 | 
 59 | 	IF (limit_id = 2) THEN
 60 | 		SET_REAL_REG(R_WEBYMAX, limit_vl, STATUS)
 61 | 		IF (STATUS <> 0 ) THEN
 62 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 2 task: ', STATUS, CR)
 63 | 		ENDIF
 64 | 	ENDIF
 65 | 
 66 | 	IF (limit_id = 3) THEN
 67 | 		SET_REAL_REG(R_WEBZMAX, limit_vl, STATUS)
 68 | 		IF (STATUS <> 0 ) THEN
 69 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 3 task: ', STATUS, CR)
 70 | 		ENDIF
 71 | 	ENDIF
 72 | 
 73 | 	IF (limit_id = 4) THEN
 74 | 		SET_REAL_REG(R_WEBXMIN, (limit_no * limit_vl), STATUS)
 75 | 		IF (STATUS <> 0 ) THEN
 76 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 4 task: ', STATUS, CR)
 77 | 		ENDIF
 78 | 	ENDIF
 79 | 
 80 | 	IF (limit_id = 5) THEN
 81 | 		SET_REAL_REG(R_WEBYMIN, (limit_no * limit_vl), STATUS)
 82 | 		IF (STATUS <> 0 ) THEN
 83 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 5 task: ', STATUS, CR)
 84 | 		ENDIF
 85 | 	ENDIF
 86 | 
 87 | 	IF (limit_id = 6) THEN
 88 | 		SET_REAL_REG(R_WEBZMIN, (limit_no * limit_vl), STATUS)
 89 | 		IF (STATUS <> 0 ) THEN
 90 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 6 task: ', STATUS, CR)
 91 | 		ENDIF
 92 | 	ENDIF
 93 | 
 94 | 	IF (limit_id = 11) THEN
 95 | 		SET_REAL_REG(R_WEBJ1MAX, limit_vl, STATUS)
 96 | 		IF (STATUS <> 0 ) THEN
 97 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 11 task: ', STATUS, CR)
 98 | 		ENDIF
 99 | 	ENDIF
100 | 
101 | 	IF (limit_id = 12) THEN
102 | 		SET_REAL_REG(R_WEBJ2MAX, limit_vl, STATUS)
103 | 		IF (STATUS <> 0 ) THEN
104 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 12 task: ', STATUS, CR)
105 | 		ENDIF
106 | 	ENDIF
107 | 	
108 | 	IF (limit_id = 13) THEN
109 | 		SET_REAL_REG(R_WEBJ3MAX, limit_vl, STATUS)
110 | 		IF (STATUS <> 0 ) THEN
111 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 13 task: ', STATUS, CR)
112 | 		ENDIF
113 | 	ENDIF
114 | 	
115 | 	IF (limit_id = 14) THEN
116 | 		SET_REAL_REG(R_WEBJ4MAX, limit_vl, STATUS)
117 | 		IF (STATUS <> 0 ) THEN
118 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 14 task: ', STATUS, CR)
119 | 		ENDIF
120 | 	ENDIF	
121 | 
122 | 	IF (limit_id = 15) THEN
123 | 		SET_REAL_REG(R_WEBJ5MAX, limit_vl, STATUS)
124 | 		IF (STATUS <> 0 ) THEN
125 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 15 task: ', STATUS, CR)
126 | 		ENDIF
127 | 	ENDIF
128 | 	
129 | 	IF (limit_id = 16) THEN
130 | 		SET_REAL_REG(R_WEBJ6MAX, limit_vl, STATUS)
131 | 		IF (STATUS <> 0 ) THEN
132 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 16 task: ', STATUS, CR)
133 | 		ENDIF
134 | 	ENDIF	
135 | 
136 | 	IF (limit_id = 21) THEN
137 | 		SET_REAL_REG(R_WEBJ1MIN, (limit_no * limit_vl), STATUS)
138 | 		IF (STATUS <> 0 ) THEN
139 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 21 task: ', STATUS, CR)
140 | 		ENDIF
141 | 	ENDIF
142 | 
143 | 	IF (limit_id = 22) THEN
144 | 		SET_REAL_REG(R_WEBJ2MIN, (limit_no * limit_vl), STATUS)
145 | 		IF (STATUS <> 0 ) THEN
146 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 22 task: ', STATUS, CR)
147 | 		ENDIF
148 | 	ENDIF
149 | 	
150 | 	IF (limit_id = 23) THEN
151 | 		SET_REAL_REG(R_WEBJ3MIN,(limit_no * limit_vl), STATUS)
152 | 		IF (STATUS <> 0 ) THEN
153 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 23 task: ', STATUS, CR)
154 | 		ENDIF
155 | 	ENDIF
156 | 	
157 | 	IF (limit_id = 24) THEN
158 | 		SET_REAL_REG(R_WEBJ4MIN,(limit_no * limit_vl), STATUS)
159 | 		IF (STATUS <> 0 ) THEN
160 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 24 task: ', STATUS, CR)
161 | 		ENDIF
162 | 	ENDIF	
163 | 
164 | 	IF (limit_id = 25) THEN
165 | 		SET_REAL_REG(R_WEBJ5MIN, (limit_no * limit_vl), STATUS)
166 | 		IF (STATUS <> 0 ) THEN
167 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 25 task: ', STATUS, CR)
168 | 		ENDIF
169 | 	ENDIF
170 | 	
171 | 	IF (limit_id = 26) THEN
172 | 		SET_REAL_REG(R_WEBJ6MIN, (limit_no * limit_vl), STATUS)
173 | 		IF (STATUS <> 0 ) THEN
174 | 			WRITE ('SET_REAL_REG built-IN failed in limit_id 26 task: ', STATUS, CR)
175 | 		ENDIF
176 | 	ENDIF
177 | 
178 | 	return_code = 204
179 | 
180 | END weblimit


--------------------------------------------------------------------------------
/karel/webmonitor.kl:
--------------------------------------------------------------------------------
  1 | PROGRAM webmonitor
  2 | %COMMENT = 'v6'
  3 | %NOLOCKGROUP
  4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
  5 | %NOBUSYLAMP
  6 | 
  7 | CONST
  8 | 
  9 | 	R_WEBXMAX = 43	
 10 | 	R_WEBYMAX = 44
 11 | 	R_WEBZMAX = 45
 12 | 
 13 | 	R_WEBXMIN = 46
 14 | 	R_WEBYMIN = 47
 15 | 	R_WEBZMIN = 48
 16 | 	
 17 | 	R_WEBJ1MAX = 61	
 18 | 	R_WEBJ2MAX = 62
 19 | 	R_WEBJ3MAX = 63
 20 | 	R_WEBJ4MAX = 64
 21 | 	R_WEBJ5MAX = 65
 22 | 	R_WEBJ6MAX = 66
 23 | 
 24 | 	R_WEBJ1MIN = 71	
 25 | 	R_WEBJ2MIN = 72
 26 | 	R_WEBJ3MIN = 73
 27 | 	R_WEBJ4MIN = 74
 28 | 	R_WEBJ5MIN = 75
 29 | 	R_WEBJ6MIN = 76
 30 | 
 31 | VAR
 32 | 
 33 | 	STATUS: INTEGER
 34 | 	responseFile: FILE
 35 | 
 36 | 	xmax_flag: BOOLEAN
 37 | 	ymax_flag: BOOLEAN
 38 | 	zmax_flag: BOOLEAN
 39 | 
 40 | 	xmin_flag: BOOLEAN
 41 | 	ymin_flag: BOOLEAN
 42 | 	zmin_flag: BOOLEAN
 43 | 
 44 | 	j1max_flag: BOOLEAN
 45 | 	j2max_flag: BOOLEAN
 46 | 	j3max_flag: BOOLEAN
 47 | 	j4max_flag: BOOLEAN
 48 | 	j5max_flag: BOOLEAN
 49 | 	j6max_flag: BOOLEAN
 50 | 	
 51 | 	j1min_flag: BOOLEAN
 52 | 	j2min_flag: BOOLEAN
 53 | 	j3min_flag: BOOLEAN
 54 | 	j4min_flag: BOOLEAN
 55 | 	j5min_flag: BOOLEAN
 56 | 	j6min_flag: BOOLEAN
 57 | 	
 58 | 	xmax_int: INTEGER
 59 | 	ymax_int: INTEGER
 60 | 	zmax_int: INTEGER
 61 | 
 62 | 	xmin_int: INTEGER
 63 | 	ymin_int: INTEGER
 64 | 	zmin_int: INTEGER
 65 | 
 66 | 	j1max_int: INTEGER
 67 | 	j2max_int: INTEGER
 68 | 	j3max_int: INTEGER
 69 | 	j4max_int: INTEGER
 70 | 	j5max_int: INTEGER
 71 | 	j6max_int: INTEGER
 72 | 
 73 | 	j1min_int: INTEGER
 74 | 	j2min_int: INTEGER
 75 | 	j3min_int: INTEGER
 76 | 	j4min_int: INTEGER
 77 | 	j5min_int: INTEGER
 78 | 	j6min_int: INTEGER
 79 | 	
 80 | 	xmax_real: REAL
 81 | 	ymax_real: REAL
 82 | 	zmax_real: REAL
 83 | 
 84 | 	xmin_real: REAL
 85 | 	ymin_real: REAL
 86 | 	zmin_real: REAL
 87 | 
 88 | 	j1max_real: REAL
 89 | 	j2max_real: REAL
 90 | 	j3max_real: REAL
 91 | 	j4max_real: REAL
 92 | 	j5max_real: REAL
 93 | 	j6max_real: REAL
 94 | 
 95 | 	j1min_real: REAL
 96 | 	j2min_real: REAL
 97 | 	j3min_real: REAL
 98 | 	j4min_real: REAL
 99 | 	j5min_real: REAL
100 | 	j6min_real: REAL
101 | 	
102 | 	error_code: INTEGER
103 | 	error_string: STRING[127]
104 | 	cause_code: INTEGER
105 | 	cause_string: STRING[127]
106 | 	time_int: INTEGER
107 | 	severity: INTEGER
108 | 	prog_nam: STRING[127]
109 | 
110 | 	str_task IN DRAM FROM webstart: STRING[127]
111 | 	task_att: INTEGER
112 | 	task_dum: STRING[127]
113 | 	running: INTEGER
114 | 	webmotion: INTEGER
115 | 
116 | 	currentPos: XYZWPREXT
117 | 	currentPosJ: JOINTPOS
118 | 	valuePosJ: ARRAY[6] OF REAL
119 | 	
120 | 	reach_ab IN DRAM FROM webcheck: INTEGER
121 | 
122 | 	limit_x IN DRAM FROM webcheck: INTEGER
123 | 	limit_y IN DRAM FROM webcheck: INTEGER
124 | 	limit_z IN DRAM FROM webcheck: INTEGER
125 | 
126 | 	limit_j1 IN DRAM FROM webcheck: INTEGER
127 | 	limit_j2 IN DRAM FROM webcheck: INTEGER
128 | 	limit_j3 IN DRAM FROM webcheck: INTEGER
129 | 	limit_j4 IN DRAM FROM webcheck: INTEGER
130 | 	limit_j5 IN DRAM FROM webcheck: INTEGER
131 | 	limit_j6 IN DRAM FROM webcheck: INTEGER
132 | 	
133 | 	currentTime: INTEGER
134 | 	timeStamp: STRING[127]
135 | 	
136 | 	fnoentry: INTEGER
137 | 	fnovalue: STRING[127]
138 | 
139 | BEGIN
140 | 
141 | 	IF UNINIT( str_task ) THEN str_task = '@@@###@@@'; ENDIF
142 | 
143 | 	IF UNINIT( reach_ab ) THEN reach_ab = 0; ENDIF
144 | 
145 | 	IF UNINIT( limit_x ) THEN limit_x = 0; ENDIF
146 | 	IF UNINIT( limit_y ) THEN limit_y = 0; ENDIF
147 | 	IF UNINIT( limit_z ) THEN limit_z = 0; ENDIF
148 | 
149 | 	IF UNINIT( limit_j1 ) THEN limit_j1 = 0; ENDIF
150 | 	IF UNINIT( limit_j2 ) THEN limit_j2 = 0; ENDIF
151 | 	IF UNINIT( limit_j3 ) THEN limit_j3 = 0; ENDIF
152 | 	IF UNINIT( limit_j4 ) THEN limit_j4 = 0; ENDIF
153 | 	IF UNINIT( limit_j5 ) THEN limit_j5 = 0; ENDIF
154 | 	IF UNINIT( limit_j6 ) THEN limit_j6 = 0; ENDIF
155 | 
156 | 	IF UNINIT( valuePosJ[1] ) THEN valuePosJ[1] = 10000; ENDIF
157 | 	IF UNINIT( valuePosJ[2] ) THEN valuePosJ[2] = 10000; ENDIF
158 | 	IF UNINIT( valuePosJ[3] ) THEN valuePosJ[3] = 10000; ENDIF
159 | 	IF UNINIT( valuePosJ[4] ) THEN valuePosJ[4] = 10000; ENDIF
160 | 	IF UNINIT( valuePosJ[5] ) THEN valuePosJ[5] = 10000; ENDIF
161 | 	IF UNINIT( valuePosJ[6] ) THEN valuePosJ[6] = 10000; ENDIF
162 | 
163 | 	GET_REG(R_WEBXMAX, xmax_flag, xmax_int, xmax_real, STATUS)
164 | 	GET_REG(R_WEBYMAX, ymax_flag, ymax_int, ymax_real, STATUS)
165 | 	GET_REG(R_WEBZMAX, zmax_flag, zmax_int, zmax_real, STATUS)
166 | 
167 | 	GET_REG(R_WEBXMIN, xmin_flag, xmin_int, xmin_real, STATUS)
168 | 	GET_REG(R_WEBYMIN, ymin_flag, ymin_int, ymin_real, STATUS)
169 | 	GET_REG(R_WEBZMIN, zmin_flag, zmin_int, zmin_real, STATUS)
170 | 	
171 | 	GET_REG(R_WEBJ1MAX, j1max_flag, j1max_int, j1max_real, STATUS)
172 | 	GET_REG(R_WEBJ2MAX, j2max_flag, j2max_int, j2max_real, STATUS)
173 | 	GET_REG(R_WEBJ3MAX, j3max_flag, j3max_int, j3max_real, STATUS)
174 | 	GET_REG(R_WEBJ4MAX, j4max_flag, j4max_int, j4max_real, STATUS)
175 | 	GET_REG(R_WEBJ5MAX, j5max_flag, j5max_int, j5max_real, STATUS)
176 | 	GET_REG(R_WEBJ6MAX, j6max_flag, j6max_int, j6max_real, STATUS)
177 | 
178 | 	GET_REG(R_WEBJ1MIN, j1min_flag, j1min_int, j1min_real, STATUS)
179 | 	GET_REG(R_WEBJ2MIN, j2min_flag, j2min_int, j2min_real, STATUS)
180 | 	GET_REG(R_WEBJ3MIN, j3min_flag, j3min_int, j3min_real, STATUS)
181 | 	GET_REG(R_WEBJ4MIN, j4min_flag, j4min_int, j4min_real, STATUS)
182 | 	GET_REG(R_WEBJ5MIN, j5min_flag, j5min_int, j5min_real, STATUS)
183 | 	GET_REG(R_WEBJ6MIN, j6min_flag, j6min_int, j6min_real, STATUS)	
184 | 
185 | 	ERR_DATA(MAXINT, error_code, error_string, cause_code, cause_string, time_int, severity, prog_nam)
186 | 
187 | 	running = 0
188 | 	webmotion = 0
189 | 	
190 | 	GET_TSK_INFO(str_task, 0, TSK_STATUS, task_att, task_dum, STATUS)
191 | 	IF (STATUS <> 0 ) THEN
192 | 		WRITE ('GET_TSK_INFO is failed, STATUS = ', STATUS, CR)
193 | 	ELSE
194 | 		IF ( task_att = PG_RUNNING ) THEN
195 | 			running = 1
196 | 		ELSE
197 | 			running = 0
198 | 		ENDIF
199 | 	ENDIF
200 | 
201 | 	IF (str_task = 'WEBMOTION') THEN
202 | 		webmotion = 1
203 | 	ELSE
204 | 		webmotion = 0
205 | 	ENDIF
206 | 	
207 | 	currentPos = CURPOS(0,0)
208 | 	
209 | 	currentPosJ = CURJPOS(0,0)
210 | 	
211 | 	CNV_JPOS_REL( currentPosJ, valuePosJ, STATUS )
212 | 	IF (STATUS <> 0 ) THEN
213 | 		WRITE ('CNV_JPOS_REL is failed, STATUS = ', STATUS, CR)
214 | 	ENDIF
215 | 
216 | 	GET_TIME(currentTime)
217 | 	CNV_TIME_STR(currentTime, timeStamp)
218 | 	
219 | 	GET_VAR(fnoentry, '*SYSTEM*', '$FNO', fnovalue, STATUS)
220 | 
221 | 	OPEN FILE responseFile ('RW', 'RD:RESPONSE.HTM')
222 | 		
223 | 		WRITE responseFile( '{', CR )
224 | 			WRITE responseFile( '"robotid": [' )
225 | 				WRITE responseFile( '"',fnovalue,'"')
226 | 			WRITE responseFile( ' ],', CR )
227 | 			WRITE responseFile( '"joint": [' )
228 | 				WRITE responseFile( valuePosJ[1],',') 
229 | 				WRITE responseFile( valuePosJ[2],',')
230 | 				WRITE responseFile( valuePosJ[3],',')
231 | 				WRITE responseFile( valuePosJ[4],',')
232 | 				WRITE responseFile( valuePosJ[5],',')
233 | 				WRITE responseFile( valuePosJ[6] )
234 | 			WRITE responseFile( ' ],', CR )
235 | 			WRITE responseFile( '"pose": [' )
236 | 				WRITE responseFile( currentPos.x,',')  
237 | 				WRITE responseFile( currentPos.y,',')
238 | 				WRITE responseFile( currentPos.z,',')
239 | 				WRITE responseFile( currentPos.w,',')
240 | 				WRITE responseFile( currentPos.p,',')
241 | 				WRITE responseFile( currentPos.r )
242 | 			WRITE responseFile( ' ],', CR )
243 | 			WRITE responseFile( '"limit": [' )
244 | 				IF xmax_flag THEN
245 | 					WRITE responseFile( xmax_real,',')  
246 | 				ELSE
247 | 					WRITE responseFile( xmax_int,',')
248 | 				ENDIF
249 | 				IF ymax_flag THEN
250 | 					WRITE responseFile( ymax_real,',')  
251 | 				ELSE
252 | 					WRITE responseFile( ymax_int,',')
253 | 				ENDIF
254 | 				IF zmax_flag THEN
255 | 					WRITE responseFile( zmax_real,',')  
256 | 				ELSE
257 | 					WRITE responseFile( zmax_int,',')
258 | 				ENDIF
259 | 				IF xmin_flag THEN
260 | 					WRITE responseFile( xmin_real,',')  
261 | 				ELSE
262 | 					WRITE responseFile( xmin_int,',')
263 | 				ENDIF
264 | 				IF ymin_flag THEN
265 | 					WRITE responseFile( ymin_real,',')  
266 | 				ELSE
267 | 					WRITE responseFile( ymin_int,',')
268 | 				ENDIF
269 | 				IF zmin_flag THEN
270 | 					WRITE responseFile( zmin_real,',')  
271 | 				ELSE
272 | 					WRITE responseFile( zmin_int,',')
273 | 				ENDIF
274 | 				IF j1max_flag THEN
275 | 					WRITE responseFile( j1max_real,',')  
276 | 				ELSE
277 | 					WRITE responseFile( j1max_int,',')
278 | 				ENDIF
279 | 				IF j2max_flag THEN
280 | 					WRITE responseFile( j2max_real,',')  
281 | 				ELSE
282 | 					WRITE responseFile( j2max_int,',')
283 | 				ENDIF
284 | 				IF j3max_flag THEN
285 | 					WRITE responseFile( j3max_real,',')  
286 | 				ELSE
287 | 					WRITE responseFile( j3max_int,',')
288 | 				ENDIF
289 | 				IF j4max_flag THEN
290 | 					WRITE responseFile( j4max_real,',')  
291 | 				ELSE
292 | 					WRITE responseFile( j4max_int,',')
293 | 				ENDIF
294 | 				IF j5max_flag THEN
295 | 					WRITE responseFile( j5max_real,',')  
296 | 				ELSE
297 | 					WRITE responseFile( j5max_int,',')
298 | 				ENDIF
299 | 				IF j6max_flag THEN
300 | 					WRITE responseFile( j6max_real,',')  
301 | 				ELSE
302 | 					WRITE responseFile( j6max_int,',')
303 | 				ENDIF
304 | 				IF j1min_flag THEN
305 | 					WRITE responseFile( j1min_real,',')  
306 | 				ELSE
307 | 					WRITE responseFile( j1min_int,',')
308 | 				ENDIF
309 | 				IF j2min_flag THEN
310 | 					WRITE responseFile( j2min_real,',')  
311 | 				ELSE
312 | 					WRITE responseFile( j2min_int,',')
313 | 				ENDIF
314 | 				IF j3min_flag THEN
315 | 					WRITE responseFile( j3min_real,',')  
316 | 				ELSE
317 | 					WRITE responseFile( j3min_int,',')
318 | 				ENDIF
319 | 				IF j4min_flag THEN
320 | 					WRITE responseFile( j4min_real,',')  
321 | 				ELSE
322 | 					WRITE responseFile( j4min_int,',')
323 | 				ENDIF
324 | 				IF j5min_flag THEN
325 | 					WRITE responseFile( j5min_real,',')  
326 | 				ELSE
327 | 					WRITE responseFile( j5min_int,',')
328 | 				ENDIF
329 | 				IF j6min_flag THEN
330 | 					WRITE responseFile( j6min_real)  
331 | 				ELSE
332 | 					WRITE responseFile( j6min_int)
333 | 				ENDIF
334 | 			WRITE responseFile( ' ],', CR )
335 | 			WRITE responseFile( '"status": [' )
336 | 				WRITE responseFile( running,',')
337 | 				WRITE responseFile( webmotion)
338 | 			WRITE responseFile( ' ],', CR )
339 | 			WRITE responseFile( '"message": [' )
340 | 				WRITE responseFile( reach_ab,',')
341 | 				WRITE responseFile( limit_x,',')
342 | 				WRITE responseFile( limit_y,',')
343 | 				WRITE responseFile( limit_z,',')
344 | 				WRITE responseFile( limit_j1,',')
345 | 				WRITE responseFile( limit_j2,',')
346 | 				WRITE responseFile( limit_j3,',')
347 | 				WRITE responseFile( limit_j4,',')
348 | 				WRITE responseFile( limit_j5,',')
349 | 				WRITE responseFile( limit_j6)
350 | 			WRITE responseFile( ' ],', CR )
351 | 			WRITE responseFile( '"timestamp": [' )
352 | 				WRITE responseFile( '"',timeStamp,'"',',')
353 | 				WRITE responseFile( currentTime )
354 | 			WRITE responseFile( ' ],', CR )
355 | 			WRITE responseFile( '"error": [' )
356 | 				WRITE responseFile( error_code,',' )
357 | 				WRITE responseFile( '"',error_string,'"' )
358 | 			WRITE responseFile( ' ]', CR )
359 | 		WRITE responseFile( '}')
360 | 
361 | 	CLOSE FILE responseFile
362 | 
363 | END webmonitor


--------------------------------------------------------------------------------
/karel/webprogram.kl:
--------------------------------------------------------------------------------
 1 | PROGRAM webprogram
 2 | %COMMENT = 'v1'
 3 | %NOLOCKGROUP
 4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
 5 | %NOBUSYLAMP
 6 | 
 7 | VAR
 8 | 
 9 | 	STATUS: INTEGER
10 | 	responseFile: FILE
11 | 
12 | 	proga: ARRAY[100] OF STRING[16]
13 | 	progc: INTEGER
14 | 	progn: INTEGER
15 | 
16 | BEGIN
17 | 
18 | 	FOR progc = 1 TO ARRAY_LEN(proga) DO
19 | 		IF UNINIT( proga[progc] ) THEN  proga[progc] = '######'; ENDIF
20 | 	ENDFOR
21 | 
22 | 	PROG_LIST('*', 8, 0, 2, proga, ARRAY_LEN(proga), STATUS)
23 | 	IF (STATUS <> 0 ) THEN
24 | 		WRITE ('PROG_LIST built-IN failed WITH STATUS = ', STATUS, CR)
25 | 	ENDIF
26 | 
27 | 	OPEN FILE responseFile ('RW', 'RD:RESPONSE.HTM')
28 | 		
29 | 		WRITE responseFile( '{', CR )
30 | 			WRITE responseFile( '"progs": [' )
31 | 				FOR progn = 1 TO ARRAY_LEN(proga) - 1 DO
32 | 					WRITE responseFile('"' ,proga[progn],'"',',' )
33 | 				ENDFOR				
34 | 				WRITE responseFile( '"',proga[ARRAY_LEN(proga)],'"' )
35 | 			WRITE responseFile( ' ] ', CR )
36 | 		WRITE responseFile( '}')
37 | 
38 | 	CLOSE FILE responseFile
39 | 
40 | END webprogram


--------------------------------------------------------------------------------
/karel/webreset.kl:
--------------------------------------------------------------------------------
 1 | PROGRAM webreset
 2 | %COMMENT = 'v1'
 3 | %NOLOCKGROUP
 4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
 5 | %NOBUSYLAMP
 6 | 
 7 | VAR
 8 | 
 9 | 	successful: BOOLEAN
10 | 	prog_index: INTEGER
11 | 
12 | BEGIN
13 | 	
14 | 	RESET(successful)
15 | 
16 | 	IF successful <> TRUE THEN
17 | 		WRITE('RESET is NOT sucessful',CR)
18 | 	ENDIF
19 | 
20 | 	CALL_PROG('webabort', prog_index)
21 | 	
22 | END webreset


--------------------------------------------------------------------------------
/karel/webstart.kl:
--------------------------------------------------------------------------------
 1 | PROGRAM webstart
 2 | %COMMENT = 'v1'
 3 | %NOLOCKGROUP
 4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
 5 | %NOBUSYLAMP
 6 | 
 7 | VAR
 8 | 
 9 | 	STATUS: INTEGER
10 | 	return_code: INTEGER
11 | 	
12 | 	prog_index: INTEGER
13 | 
14 | 	str_task: STRING[127]
15 | 
16 | BEGIN
17 | 	WRITE (CHR(128),CHR(137))
18 | 	
19 | 	IF UNINIT( str_task ) THEN str_task = '###@@@###'; ENDIF
20 | 
21 | 	CALL_PROG('webcheck', prog_index)
22 | 	
23 | 	RUN_TASK( str_task, 0, FALSE, FALSE, 1, STATUS )
24 | 	
25 | 	IF (STATUS <> 0 ) THEN	
26 | 		WRITE ('RUN_TASK built-IN failed = ', STATUS, CR)
27 | 	ELSE
28 | 		return_code = 204
29 | 	ENDIF
30 | 	
31 | END webstart
32 | 


--------------------------------------------------------------------------------
/karel/webstop.kl:
--------------------------------------------------------------------------------
 1 | PROGRAM webstop
 2 | %COMMENT = 'v3'
 3 | %NOLOCKGROUP
 4 | %NOPAUSE=ERROR+COMMAND+TPENABLE
 5 | %NOBUSYLAMP
 6 | 
 7 | VAR
 8 | 
 9 | 	STATUS: INTEGER
10 | 	return_code: INTEGER
11 | 
12 | BEGIN
13 | 
14 | 	WRITE (CHR(128),CHR(137))
15 | 
16 | 	SET_REAL_REG(42, 999, STATUS)	
17 | 	IF (STATUS <> 0 ) THEN
18 | 		WRITE ('WEBSTOP SET R42 failed:  ', STATUS, CR)
19 | 	ENDIF
20 | 
21 | 	SET_REAL_REG(51, 0, STATUS)
22 | 	IF (STATUS <> 0 ) THEN
23 | 		WRITE ('WEBSTOP SET R51 failed:  ', STATUS, CR)
24 | 	ENDIF
25 | 
26 | 	SET_REAL_REG(52, 0, STATUS)
27 | 	IF (STATUS <> 0 ) THEN
28 | 		WRITE ('WEBSTOP SET R52 failed:  ', STATUS, CR)
29 | 	ENDIF
30 | 
31 | 	SET_REAL_REG(53, 0, STATUS)
32 | 	IF (STATUS <> 0 ) THEN
33 | 		WRITE ('WEBSTOP SET R53 failed:  ', STATUS, CR)
34 | 	ENDIF
35 | 
36 | 	SET_REAL_REG(54, 0, STATUS)
37 | 	IF (STATUS <> 0 ) THEN
38 | 		WRITE ('WEBSTOP SET R54 failed:  ', STATUS, CR)
39 | 	ENDIF
40 | 
41 | 	SET_REAL_REG(55, 0, STATUS)
42 | 	IF (STATUS <> 0 ) THEN
43 | 		WRITE ('WEBSTOP SET R55 failed:  ', STATUS, CR)
44 | 	ENDIF
45 | 
46 | 	SET_REAL_REG(56, 0, STATUS)
47 | 	IF (STATUS <> 0 ) THEN
48 | 		WRITE ('WEBSTOP SET R56 failed:  ', STATUS, CR)
49 | 	ENDIF
50 | 
51 | 	return_code = 204
52 | 	
53 | END webstop


--------------------------------------------------------------------------------
/preview.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/ABC-iRobotics/fanuc-webcontrol/f7f2c671ee51dd17ca7431df8e167cdc8a2b1717/preview.png


--------------------------------------------------------------------------------
/preview2.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/ABC-iRobotics/fanuc-webcontrol/f7f2c671ee51dd17ca7431df8e167cdc8a2b1717/preview2.png


--------------------------------------------------------------------------------
/register.md:
--------------------------------------------------------------------------------
 1 | ## Used Registers [R]
 2 | 
 3 | - R_WEBKEEP = 42 moving while this is smaller than 5
 4 | 
 5 | - R_WEBXMAX = 43 X axis maximum limit
 6 | - R_WEBYMAX = 44 Y axis maximum limit
 7 | - R_WEBZMAX = 45 Z axis maximum limit
 8 | - R_WEBXMIN = 46 X axis minimum limit
 9 | - R_WEBYMIN = 47 Y axis minimum limit
10 | - R_WEBZMIN = 48 Z axis minimum limit
11 | 
12 | - R_WEBJNUM = 49 number of joints
13 | 
14 | - R_WEBJNUM = 50 counter
15 | 
16 | - R_WEBCOORD1 = 51 temporary saved coordinate (X or J1)
17 | - R_WEBCOORD2 = 52 temporary saved coordinate (Y or J2)
18 | - R_WEBCOORD3 = 53 temporary saved coordinate (Z or J3)
19 | - R_WEBCOORD4 = 54 temporary saved coordinate (W or J4)
20 | - R_WEBCOORD5 = 55 temporary saved coordinate (P or J5)
21 | - R_WEBCOORD6 = 56 temporary saved coordinate (R or J6)
22 | 
23 | - R_WEBJNUM = 60 counter with offset 50 (the WEBCOORD registers number)
24 | 
25 | - R_WEBJ1MAX = 61	joint 1 maximum limit
26 | - R_WEBJ2MAX = 62 joint 2 maximum limit
27 | - R_WEBJ3MAX = 63 joint 3 maximum limit
28 | - R_WEBJ4MAX = 64 joint 4 maximum limit
29 | - R_WEBJ5MAX = 65 joint 5 maximum limit
30 | - R_WEBJ6MAX = 66 joint 6 maximum limit
31 | 
32 | - R_WEBJ1MIN = 71 joint 1 minimum limit
33 | - R_WEBJ2MIN = 72 joint 2 minimum limit
34 | - R_WEBJ3MIN = 73 joint 3 minimum limit
35 | - R_WEBJ4MIN = 74 joint 4 minimum limit
36 | - R_WEBJ5MIN = 75 joint 5 minimum limit
37 | - R_WEBJ6MIN = 76 joint 6 minimum limit
38 | 


--------------------------------------------------------------------------------
/tpe/webmotion.ls:
--------------------------------------------------------------------------------
  1 | /PROG  WEBMOTION
  2 | /ATTR
  3 | OWNER		= MNEDITOR;
  4 | COMMENT		= "v2";
  5 | PROG_SIZE	= 1766;
  6 | CREATE		= DATE 17-06-26  TIME 17:33:34;
  7 | MODIFIED	= DATE 17-11-07  TIME 14:01:42;
  8 | FILE_NAME	= ;
  9 | VERSION		= 0;
 10 | LINE_COUNT	= 91;
 11 | MEMORY_SIZE	= 2166;
 12 | PROTECT		= READ_WRITE;
 13 | TCD:  STACK_SIZE	= 0,
 14 |       TASK_PRIORITY	= 50,
 15 |       TIME_SLICE	= 0,
 16 |       BUSY_LAMP_OFF	= 0,
 17 |       ABORT_REQUEST	= 0,
 18 |       PAUSE_REQUEST	= 0;
 19 | DEFAULT_GROUP	= 1,*,*,*,*;
 20 | CONTROL_CODE	= 00000000 00000000;
 21 | /MN
 22 |    1:  JMP LBL[999] ;
 23 |    2:   ;
 24 |    3:  LBL[7] ;
 25 |    4:  WAIT (F[7])    ;
 26 |    5:  R[42]=0    ;
 27 |    6:  IF (F[1]),JMP LBL[1] ;
 28 |    7:  IF (F[2]),JMP LBL[2] ;
 29 |    8:  IF (F[3]),JMP LBL[3] ;
 30 |    9:  IF (F[4]),JMP LBL[4] ;
 31 |   10:  IF (F[5]),JMP LBL[5] ;
 32 |   11:  IF (F[6]),JMP LBL[6] ;
 33 |   12:   ;
 34 |   13:  LBL[1] ;
 35 |   14:  CALL WEBCHECK    ;
 36 |   15:  IF (F[8]),JMP LBL[999] ;
 37 |   16:J PR[40] 10% CNT100    ;
 38 |   17:  R[42]=R[42]+1    ;
 39 |   18:  JMP LBL[1] ;
 40 |   19:   ;
 41 |   20:  LBL[2] ;
 42 |   21:  R[50]=0    ;
 43 |   22:  LBL[21] ;
 44 |   23:  IF R[50]=R[49],JMP LBL[22] ;
 45 |   24:  R[50]=R[50]+1    ;
 46 |   25:  R[60]=50+R[50]    ;
 47 |   26:  PR[40,R[50]]=PR[40,R[50]]+R[R[60]]    ;
 48 |   27:  JMP LBL[21] ;
 49 |   28:  LBL[22] ;
 50 |   29:  CALL WEBCHECK    ;
 51 |   30:  IF (F[8]),JMP LBL[999] ;
 52 |   31:J PR[40] 5% CNT100    ;
 53 |   32:  R[42]=R[42]+1    ;
 54 |   33:  JMP LBL[2] ;
 55 |   34:   ;
 56 |   35:  LBL[3] ;
 57 |   36:  CALL WEBCHECK    ;
 58 |   37:  IF (F[8]),JMP LBL[999] ;
 59 |   38:L PR[41] 50mm/sec CNT100    ;
 60 |   39:  R[42]=R[42]+1    ;
 61 |   40:  JMP LBL[3] ;
 62 |   41:   ;
 63 |   42:  LBL[4] ;
 64 |   43:  CALL WEBCHECK    ;
 65 |   44:  IF (F[8]),JMP LBL[999] ;
 66 |   45:J PR[41] 5% CNT100    ;
 67 |   46:  R[42]=R[42]+1    ;
 68 |   47:  JMP LBL[4] ;
 69 |   48:   ;
 70 |   49:  LBL[5] ;
 71 |   50:  PR[41,1]=PR[41,1]+R[51]    ;
 72 |   51:  PR[41,2]=PR[41,2]+R[52]    ;
 73 |   52:  PR[41,3]=PR[41,3]+R[53]    ;
 74 |   53:  PR[41,4]=PR[41,4]+R[54]    ;
 75 |   54:  PR[41,5]=PR[41,5]+R[55]    ;
 76 |   55:  PR[41,6]=PR[41,6]+R[56]    ;
 77 |   56:  CALL WEBCHECK    ;
 78 |   57:  IF (F[8]),JMP LBL[999] ;
 79 |   58:L PR[41] 50mm/sec CNT100    ;
 80 |   59:  R[42]=R[42]+1    ;
 81 |   60:  JMP LBL[5] ;
 82 |   61:   ;
 83 |   62:  LBL[6] ;
 84 |   63:  PR[41,1]=PR[41,1]+R[51]    ;
 85 |   64:  PR[41,2]=PR[41,2]+R[52]    ;
 86 |   65:  PR[41,3]=PR[41,3]+R[53]    ;
 87 |   66:  PR[41,4]=PR[41,4]+R[54]    ;
 88 |   67:  PR[41,5]=PR[41,5]+R[55]    ;
 89 |   68:  PR[41,6]=PR[41,6]+R[56]    ;
 90 |   69:  CALL WEBCHECK    ;
 91 |   70:  IF (F[8]),JMP LBL[999] ;
 92 |   71:J PR[41] 5% CNT100    ;
 93 |   72:  R[42]=R[42]+1    ;
 94 |   73:  JMP LBL[6] ;
 95 |   74:   ;
 96 |   75:  LBL[999] ;
 97 |   76:  F[1]=(OFF) ;
 98 |   77:  F[2]=(OFF) ;
 99 |   78:  F[3]=(OFF) ;
100 |   79:  F[4]=(OFF) ;
101 |   80:  F[5]=(OFF) ;
102 |   81:  F[6]=(OFF) ;
103 |   82:  F[7]=(OFF) ;
104 |   83:  F[8]=(OFF) ;
105 |   84:  R[42]=999    ;
106 |   85:  R[51]=0    ;
107 |   86:  R[52]=0    ;
108 |   87:  R[53]=0    ;
109 |   88:  R[54]=0    ;
110 |   89:  R[55]=0    ;
111 |   90:  R[56]=0    ;
112 |   91:  JMP LBL[7] ;
113 | /POS
114 | /END
115 | 


--------------------------------------------------------------------------------