Read the position of the free state drive or joint

Hi, for free joints you should use Unity Physic Joints, for fixed position controlled drive you should use our Drives - which are not using Physics. It is not possible to add our Drive to the Encoder you are showing. 

I tested this with Articulation Bodies. I used Python and ROS2 as a bridge between Unity and the PLC. All works well.
The reason I purchased your package is that it offers various interfaces.
I need a script similar to 'DriveMeasureSpeedPosition.cs' but for Articulation Body.
Here is the code that works. Can I implement PLC IO (Speed PLC Input Float) into my script?
Of course, I need to get rid of ROS2.
I want to achieve same, but related to Articulation Body.
We have already agreed on the project with the customer, so we are in a hurry.

using UnityEngine;
using ROS2;
using System;
using std_msgs.msg;

public class Encoder : Ros2TopicComponent
{
private ArticulationBody articulationBody;
public char axisDrive = 'x'; // Default axis ('x', 'y', or 'z')
public bool publish = true;
public float distanceTraveled = 0f;
public float encoderDiameter = 0.1f; // Encoder diameter in meters (0.1m = 100mm)
private float lastAngle = 0f; // Last recorded angle in radians

private const float FullCircle = 2 * Mathf.PI;

void Start()
{
articulationBody = GetComponent();

if (articulationBody == null)
{
Debug.LogError("ArticulationBody not assigned to " + this.name);
return;
}
if (publish)
{
CreatePub(articulationBody.name, new Float32());
}

// Initialize lastAngle with the starting angle
lastAngle = GetCurrentAngle();
}

void FixedUpdate()
{
float currentAngle = GetCurrentAngle();
float angleDelta = currentAngle - lastAngle;

// Account for overflow if the angle wraps around (360 degrees or 2π radians)
if (angleDelta > Mathf.PI)
{
angleDelta -= FullCircle;
}
else if (angleDelta < -Mathf.PI)
{
angleDelta += FullCircle;
}

// Calculate distance traveled based on angle delta
distanceTraveled += (angleDelta / FullCircle) * (encoderDiameter * Mathf.PI);
lastAngle = currentAngle;
// Publish distance traveled
if (publish)
{
Float32 msg = new Float32();
msg.Data = distanceTraveled;
Float32Publisher(msg);
}
}

// Helper method to get the current angle based on the selected axis
private float GetCurrentAngle()
{
switch (axisDrive)
{
case 'x':
return articulationBody.jointPosition[0];
case 'y':
return articulationBody.jointPosition[1];
case 'z':
return articulationBody.jointPosition[2];
default:
Debug.LogError("Invalid axisDrive character. Use 'x', 'y', or 'z'.");
return 0f;
}
}
}

Hi, you could implement your own "Behavior Model" for the Articulated body with a public PLCInputFloat.

In the fixedupdate of your code you write MyPlcInputFloat.Value = ArticulatedBody.Rotation .

This is just dummy code but I think you know how to get the correct rotation of your articulated body.

Hi! Thanks for PLCInputFloat :)

I managed to connect the ArticulationBody

using realvirtual;

public PLCInputFloat Position;

Position.Value = ArticulatedBody.Rotation;