We are doing lab 4 and trying to draw with our marker with our industrial arm. In block coding setting the tip tool to a marker is direct. But we are using C++. How do we determine what the values(parameters) are in the setTipToolOffset method? The instructions are very clear for what to replace the mastering values with in the setMasteringValues method but I cannot find instruction for the setTipToolOffset which takes 3 doubles as parameters in C++.
I am having a hard time understanding what units will make the default marker values acceptable when it comes to determining how far down to place the marker.
Also, as an addendum, when we do use the moveToPositionLinear the arm goes to a position that is not correct - and yes, we are mastered with the jig in before and we have correctly modified the setMasteringValues parameters.