ATRQ Method

Description
Returns the average torque for the specified joint.

Syntax
Function ATRQ (JointNumber As Integer) As Single

Parameters

• JointNumber
  An integer indicating the axis number (range: 1 to number of joints of the robot)

Return Value
Real value from 0 to 1.

See Also
ATCLR Method, PTCLR Method, PTRQ Method

ATRQ Example
VB Example:

Dim val As Single  
Dim i As Integer  
For i = 1 To 4  
val = m_spel.ATRQ(i)  
Next i  

C# Example:

float avgTorque;  
for(int i = 1; i <= 4; i++)  
    avgTorque = m_spel.ATRQ(i);