Get current position in UFRAME

I believe you need to set $UTOOL and $UFRAME prior to using CURPOS. Otherwise CURPOS will report out in the world frame and at the faceplate.

Alternately you can use the ':' operator to get the position of the TCP expressed in the Frame you want.

ex :

$GROUP[1].$UTOOL = $MOR_GRP[1].$NILPOS
$GROUP[1].$UFRAME = $MOR_GRP[1].$NILPOS  
GET_VAR(ENTRY,'*SYSTEM*','$MNUFRAME[1,1]',frame,STATUS)
position = POS(0.0, 0.0, 100.0, 0.0, 0.0, 0.0, C)
tool_in_frm= frame:position

tool_in_frm should have the [0, 0, 100, ...] coordinates calculated in the user frame.

This program seems to work when I check the contents of currentp.

PROGRAM GETCURPOS
%COMMENT = 'Get Curpos'


VAR
axisLim,
overTrv:INTEGER
currentp:XYZWPR


BEGIN
$GROUP[1].$UTOOL = $MNUTOOL[1,1] --uTool 1
$GROUP[1].$UFRAME = $MNUFRAME[1,1] --uFrame 1
currentp=CURPOS(axisLim, overTrv)
END GETCURPOS

Hi,

is there an option to set der UFRAME back to UFRAME 0 (World KOS).

$GROUP[1].$UFRAME=$MNUFRAME[1,0]

is false.

User frames are defined with respect to the world frame; so you should set the frame to an XYZWPR position with all elements 0. Either create your own zeropos variable, or use the sysvar $MOR_GRP[1].$NILPOS

$GROUP[1].$UFRAME=zeropos_variable
$GROUP[1].$UFRAME=$MOR_GRP[1].$NILPOS

You do not even need karel for this if you only want to get the coordinates in the CURRENT selected frame.

There are some system variables where you can get this info, just check this ones:

$SV_INFO[1].$CART_POS -> Actual position in the World coordinates.

$SV_INFO[1].$CART_POS_UF -> Actual position in the current selected uframe.

I use the second one a lot while in BG logic in order to capture an orientation when a sensor is triggered, it works pretty well. I suppose you can also use it inside a karel routine if you need to.

Edit: ohh, sorry, I haven't seen this was a necro, but I think it may be usseful for anyone who needs to do this on the future.

Quote from Nation

$GROUP[1].$UTOOL = $MNUTOOL[1,1] --uTool 1

$GROUP[1].$UFRAME = $MNUFRAME[1,1] --uFrame 1

Adding these two lines to the main code solved my issue. Thank you.

Are you able to change the uframe? if you are insert new line before position and insert UFRAME_NUM=

And after the = add you desired uframe number. After the postion insert another UFRAME_NUM= and add after the equals the other uframe you had on before.

Hope this helps