[sudo-discuss] robot job files and rectangular coordinates

[Jake]

so far, all the robot programs we have extracted have coordinates stored 
in PULSE format, meaning that all positions are stored as a list of 
positions for the six axes.  This means we have been trying to create a 
math model of the robot's joints to get it to do our bidding.

however, today I was reading page 106 of this document:
http://spaz.org/~jake/robot/479236-17-Communications.pdf

and it explains more about the format of a Job file:

///PULSE   : Indicates position data (pulse counts)
///RECTAN  : Indicates position data (rectangular coordinates)

so far we have only seen PULSE, but we could try RECTAN and see if we can 
feed the robot rectangular coordinates, like we do to a 3D printer.

also there is the line starting with ///ATTR
///ATTR a-p	: Job data attributes
... m = Position data format, 0 pulse, 1 rectangular ...

and
///FRAME coordinate system	: Identifies the job coordinate system 
BASE = base coordinates
ROBOT = robot coordinates N = user coordinate number (1 - 8)

also, we should realize that the line ///NPOS describes the number of 
coordinates in a job, and until now I thought we could simply add or 
remove coordinate lines and that would be enough, but probably not.
See how the NPOS line always matches the number of coordinates (of each 
type) in the jobs we have saved so far:
https://github.com/jerkey/yasnac/tree/master/jobs

all our jobs are FRAME BASE and coordinates in PULSE.  I don't know how to 
create a job any other way, so we will have to experiment.

-jake