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#X declare -lib mrpeach;
#X text -507 -87 Sending OSC messages;
#X obj 51 -187 import mrpeach;
#X obj -339 323 udpsend;
#X obj -341 248 packOSC;
#X obj -339 396 print;
#X obj 51 -150 print;
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#X msg -374 -90 1;
#X msg -537 273 disconnect;
#X obj -126 -174 udpreceive 9001;
#X obj -125 -125 unpackOSC;
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#X obj -126 -23 routeOSC /21;
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#X text -779 54 SetPoint;
#X msg -338 28 send /UniDrivev2/21/SetPoint;
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#X obj -607 -176 s reset;
#X text -583 -215 Reset everything;
#X msg -922 19 0;
#X obj -921 -17 r reset;
#X msg -913 -178 0;
#X obj -912 -214 r reset;
#X text -90 327 SetPoint;
#X text -25 301 Position;
#X text 37 271 Speed;
#X text 101 244 Torque;
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#X msg -925 201 0;
#X obj -925 178 r reset;
#X text -782 225 Elasticity;
#X msg -925 256 sendtyped /UniDrivev2/21/admittanceK f \$1;
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#X obj -631 -11 r reset;
#X text -488 36 Damping;
#X msg -631 67 sendtyped /UniDrivev2/21/admittanceB f \$1;
#X obj -335 -161 r reset;
#X text -485 -120 Sending OSC messages;
#X msg -336 -122 0;
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#X msg -918 383 0;
#X obj -918 360 r reset;
#X msg -918 414 sendtyped /UniDrivev2/21/Position i \$1;
#X text -918 342 On reset \, Position will be set to 0;
#X obj -916 594 s packme;
#X obj -916 514 r reset;
#X obj -1235 598 s packme;
#X obj -1235 518 r reset;
#X msg -1235 572 sendtyped /UniDrivev2/21/SetPointMin i \$1;
#X msg -916 568 sendtyped /UniDrivev2/21/SetPointMax i \$1;
#X msg -306 81 send /UniDrivev2/21/CtrlMode;
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#X floatatom 127 497 5 0 0 0 - - -;
#X text 162 494 CtrlMode;
#X text -916 496 On reset \, SetPointMax will be set to this value
;
#X text -1235 500 On reset \, SetPointMin will be set to this value
;
#X msg -1235 541 -5000;
#X msg -916 537 5000;
#X text -875 -150 <----- Click to activate the system;
#X text -833 -138 Emergency button must be released...;
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