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@@ -32,20 +32,13 @@ public class Main {
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.addVariable("target_speed_fraction")
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.addVariable("target_speed_fraction")
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.addVariable("speed_scaling");
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.addVariable("speed_scaling");
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r.request(so);
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r.request(so);
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- var si=new RtdeSetupInputs()
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- .addVariable("input_int_register_24");
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- r.request(si);
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- System.out.println(si.recipe);
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-
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var start=new RtdeControlStart();
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var start=new RtdeControlStart();
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r.request(start);
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r.request(start);
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- var pos=new RtdeInDataPackage(si);
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- pos.put("input_int_register_24","66");
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- r.request(pos);
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-
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+ PosThread p=new PosThread(r, fhm);
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+ p.start();
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- FestoXRServer fxrs = new FestoXRServer();
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+ FestoXRServer fxrs = new FestoXRServer(r);
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HTTPServerEndpoint xrs = XR.server(fxrs, FestoXRServer.class);
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HTTPServerEndpoint xrs = XR.server(fxrs, FestoXRServer.class);
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server.add(xrs);
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server.add(xrs);
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server.start();
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server.start();
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@@ -59,6 +52,5 @@ public class Main {
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picocli.CommandLine.usage(new Params(), System.out);
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picocli.CommandLine.usage(new Params(), System.out);
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System.exit(1);
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System.exit(1);
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}
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}
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-
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}
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}
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}
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}
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