convert position register to Joint angles

Manually? TP? Karel?

Do you need that cartesian representation anywhere else, or you just want to have the joint representation regardless?

If the latter, you can just use this code to initialize a posreg in JOINT representation:

PR[...]=JPOS-JPOS

in this case, you get a PR which stores joint coordinates and holds 0 for each of them. Any operation on the coordinates will refer to joints, until you change the type of the PR.

For example, if you want to store a position in the PR in JOINT and then change one of its coordinates and move to the new position, you write sth like this:

PR[1]=JPOS-JPOS
PR[1]=P[1]
PR[1,6]=PR[1,6]+60
J PR[1] 100% FINE

This will initialize the PR[1] as described above, write the position stored in the P[1] to PR[1], add 60 degrees to the J6's coordinate and then move the robot to that new position stored in PR[1]. The effect will be moving the robot to P1 with +60deg difference in J6.

If you use the P[1] directly before the coordinate change operation, you can also do it like this:

J P[1] 100% FINE
PR[1]=JPOS
PR[1,6]=PR[1,6]+60
J PR[1] 100% FINE

This will first move the robot to P[1] (FINE is very important here!!!), store the current position of the robot as joints to PR[1], add 60deg to J6's position and then move the robot to that new position. The effect will be a movement to P[1] and then a J6 rotation by exactly +60deg.

not 100% sure if this will work, but try doing this:

PR[1]=JPOS-JPOS
PR[1]=PR[2]

where PR[2] is the PosReg with cartesian coordinates

Quote from bidzej

not 100% sure if this will work, but try doing this:

Code

PR[1]=JPOS-JPOS
PR[1]=PR[2]

where PR[2] is the PosReg with cartesian coordinates

I gave this a try, and it turns PR[1] into Cartesian representation.

Then I guess the fastest way is writing a simple KAREL program, as KAREL has a dedicated functions for converting JOINT to XYZWPR and the other way around. It could use an argument to specify which PR you want to convert...

Quote from bidzej

Then I guess the fastest way is writing a simple KAREL program, as KAREL has a dedicated functions for converting JOINT to XYZWPR and the other way around. It could use an argument to specify which PR you want to convert...

I found that Karel will convert without the dedicated functions. You can do something like this and it will work:

xyz_pos     : XYZWPREXT
jpos           : JOINTPOS
-- Next two lines are what the conversion from XYZWPR to JPOS (jpos=lpos) uses.
$UFRAME = $MOR_GRP[1].$NILPOS
$UTOOL = $MNUTOOL[1,prog_utool]
jpos = xyz_pos

Takes more lines of code than using a built-in I think But still worth knowing!

When you get the current location, just get both.
PR[1]=JPOS
PR[2]=LPOS
Then just use them as needed.