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StopAndClearBuffer() does not clear whole buffer!! #15

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janandries opened this issue Nov 15, 2021 · 0 comments
Open

StopAndClearBuffer() does not clear whole buffer!! #15

janandries opened this issue Nov 15, 2021 · 0 comments

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@janandries
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When StopAndClearBuffer() is called, any tags after the last move command on the queue are not erased. I am assuming that StopAndClearBuffer would also clear any tags on the cobot.

To reproduce:

  1. Send a Line() move, and queue a tag using QueueTag().
  2. Send a StopAndClearBuffer() before the move has completed. This stops the robot and should clear the buffer completely, including any tags.
  3. Send again a Line() move to make the robot move again, and observe that first a tag is received as soon as the Line() command is received by the cobot, even though none were queued.

The current way things are, this also means there is no way to clear tags that are on the cobot after you stopped the program.

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