How to cancel IKPath to start another IKPath

Hi, for the moment canceling a running path is not implementet. You would need to change it in the scripts. I am adding it to the development list.

I made some pre-work and implemented this public function in IKPath.cs:

**********

//! Added by AF for canceling active paths
public void CancelPath()
{
if (CurrentTarget != null)
CurrentTarget.OnLeaveTarget();

LastTarget = null;
CurrentTarget = null;
NumTarget = 0;
PathIsActive = false;
WaitForSignal = false;

// Reset all Values for all motion types
drivesatposition.Clear();
linearpathspeed = 0;
linearpathacceleration = 0;
linearacceleration = false;
lineardeceleration = false;
LinearPathActive = false;
LinearPathPos = 0;
}

**********

I realized a problem though.

If the current path gets canceled and the next path starts with a linear movement to the target, the robot makes a "jump".

This is caused in RobotIK.cs

After picking the box the robot path gets canceled and another path starts with linear movement.

It might help you with your development work.