Have a higher timeout for the first trajectory point while the robot …

…isn't moving yet.
urmahp · Sep 6, 2024 · 99208e5 · 99208e5
1 parent 281c797
commit 99208e5
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/resources/external_control.urscript b/resources/external_control.urscript
@@ -439,8 +439,12 @@ thread trajectoryThread():
   enter_critical
   trajectory_result = TRAJECTORY_RESULT_SUCCESS
   while trajectory_result == TRAJECTORY_RESULT_SUCCESS and trajectory_points_left > 0:
+    local timeout = get_steptime()
+    if is_first_point:
+      timeout = 0.5
+    end
     #reading trajectory point + blend radius + type of point (cartesian/joint based)
-    local raw_point = socket_read_binary_integer(TRAJECTORY_DATA_DIMENSION+1+1, "trajectory_socket", 0.2)
+    local raw_point = socket_read_binary_integer(TRAJECTORY_DATA_DIMENSION+1+1, "trajectory_socket", timeout)
     trajectory_points_left = trajectory_points_left - 1
 
     if raw_point[0] > 0: