Position from g-code about mrc HOT 3 CLOSED

In the context of MRC the g-code is called MRIL (for MicroPede Robot Instruction Language). Therefore the g-code/MRIL parsing can be found in https://github.com/glumb/mrc/blob/master/src/MRILParser.cpp
The instructions are parsed char by char and the respective methods are triggered.
I attached a schema of the controller. I hope this helps.

from mrc.

Thanks for your fast response. I will try it.

from mrc.

Hey @haniehes were you able to do the integration for the UR? Would you mind share the final outcome?
Thanks!

from mrc.