#N canvas 287 104 2025 1025 10;
#X declare -lib mrpeach;
#X obj -1054 120 import mrpeach;
#X obj -605 -25 udpsend;
#X obj -605 -83 packOSC;
#X obj -605 48 print;
#X obj -1054 157 print;
#X floatatom -545 -338 5 0 0 0 - - -;
#X msg -602 -339 1;
#X msg -801 -58 disconnect;
#X obj -1231 133 udpreceive 9001;
#X obj -1230 182 unpackOSC;
#X floatatom -1231 397 15 0 0 0 ADDR_Position - -;
#X obj -713 -193 r packme;
#X obj -1840 24 hsl 128 15 -30000 30000 0 0 empty empty empty -2 -8
0 10 -4034 -1 -1 6350 1;
#X obj -1843 80 s packme;
#X obj -1058 -236 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
-1 -1;
#X obj -1058 -193 s reset;
#X text -1033 -235 Reset everything;
#X msg -1843 -18 0;
#X obj -1842 -54 r reset;
#X obj -1082 0 hsl 128 15 0 0.01 0 0 empty empty empty -2 -8 0 10 -260097
-1 -1 0 1;
#X obj -1085 56 s packme;
#X msg -1085 -25 0;
#X obj -1085 -48 r reset;
#X text -942 -1 Elasticity;
#X obj -1392 5 hsl 128 15 0 0.1 0 0 empty empty empty -2 -8 0 10 -203904
-1 -1 0 1;
#X obj -1395 60 s packme;
#X msg -1395 -21 0;
#X obj -1395 -44 r reset;
#X text -1252 3 Damping;
#X obj -600 -410 r reset;
#X obj -639 -249 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
-1 -1;
#X obj -715 183 hsl 128 15 0 1200 0 0 empty empty empty -2 -8 0 10
-4032 -1 -1 0 1;
#X obj -718 238 s packme;
#X msg -718 157 0;
#X obj -718 134 r reset;
#X text -575 181 Motor Speed;
#X msg -718 212 sendtyped /ADDR1_moteur/32/VitesseConsigne i \$1;
#X obj -1597 -168 s packme;
#X msg -1597 -199 sendtyped /ADDR1/31/ADDR_TypeControle i \$1;
#X msg -1596 -342 3;
#X msg -1491 -308 2;
#X text -1586 -364 Impedance;
#X text -1493 -327 Torque;
#X msg -1685 -251 0;
#X text -1674 -268 None;
#X obj -1685 -321 r reset;
#X text -1480 -352 Emergency button must be released...;
#X text -1411 -298 Emergency button must be released...;
#X text -1522 -364 <----- Click to activate the system in Impedance
mode.;
#X text -1453 -310 <----- Click to activate the system in Torque mode.
;
#X msg -1085 30 sendtyped /ADDR1/31/Impedance_Raideur f \$1;
#X msg -1395 34 sendtyped /ADDR1/31/Impedance_Amortissement f \$1;
#X msg -1843 54 sendtyped /ADDR1/31/Impedance_PositionEquilibre i \$1
;
#X msg -577 -221 send /ADDR1/31/ADDR_Position;
#X text -567 -239 Position request...;
#X obj -1230 239 routeOSC /ADDR1;
#X obj -1231 284 routeOSC /31;
#X obj -1841 241 hsl 128 15 -8 8 0 0 empty empty empty -2 -8 0 10 -204786
-1 -1 6350 1;
#X obj -1845 295 s packme;
#X msg -1845 214 0;
#X obj -1845 191 r reset;
#X msg -1845 269 sendtyped /ADDR1/31/BoucleOuverte_CoupleConsigne f
\$1;
#X text -1702 238 Torque Command;
#X text -1700 17 Position SetPoint (in enc. pulse);
#X text -529 -290 Refresh time in ms;
#X floatatom -1123 441 15 0 0 0 ADDR_Vitesse - -;
#X obj -1231 343 routeOSC /ADDR_Position /ADDR_Vitesse;
#X msg -576 -159 send /ADDR1/31/ADDR_Vitesse;
#X text -573 -175 Speed request...;
#X obj -603 -290 metro 100;
#X msg -796 -109 connect 10.51.80.10 9001;
#X connect 0 0 4 0;
#X connect 1 0 3 0;
#X connect 2 0 1 0;
#X connect 5 0 69 1;
#X connect 6 0 69 0;
#X connect 7 0 1 0;
#X connect 8 0 9 0;
#X connect 9 0 55 0;
#X connect 11 0 2 0;
#X connect 12 0 52 0;
#X connect 14 0 15 0;
#X connect 17 0 12 0;
#X connect 18 0 17 0;
#X connect 19 0 50 0;
#X connect 21 0 19 0;
#X connect 22 0 21 0;
#X connect 24 0 51 0;
#X connect 26 0 24 0;
#X connect 27 0 26 0;
#X connect 29 0 6 0;
#X connect 31 0 36 0;
#X connect 33 0 31 0;
#X connect 34 0 33 0;
#X connect 36 0 32 0;
#X connect 38 0 37 0;
#X connect 39 0 38 0;
#X connect 40 0 38 0;
#X connect 43 0 38 0;
#X connect 45 0 43 0;
#X connect 50 0 20 0;
#X connect 51 0 25 0;
#X connect 52 0 13 0;
#X connect 53 0 2 0;
#X connect 55 0 56 0;
#X connect 56 0 66 0;
#X connect 57 0 61 0;
#X connect 59 0 57 0;
#X connect 60 0 59 0;
#X connect 61 0 58 0;
#X connect 66 0 10 0;
#X connect 66 1 65 0;
#X connect 67 0 2 0;
#X connect 69 0 53 0;
#X connect 69 0 30 0;
#X connect 69 0 67 0;
#X connect 70 0 1 0;