# v0.8.13

## BUILD 1505
- Fixed a bug with `WriteAnalog` on `UR` devices.

Author: garciadelcastillo

CHANGELOG.md

@@ -28,6 +28,11 @@
 - [ ] `noTool` gets declared on every ABB program, even if not used. Fix this, and probably use `tool0` on compilation?
 - [ ] Review if second attachments produce a TCP transformation without undoing the previous tool.
 
+
+# v0.8.13
+## BUILD 1505
+- Fixed a bug with `WriteAnalog` on `UR` devices.
+
 # v0.8.12b
 ## BUILD 1504
 `Action.Id` generation comes from a `static` counter in the `Action` class. This had a couple problems:

dist/Machina_v0.8.13.zip

@@ -44,7 +44,7 @@ class URCommunicationProtocol : Base
         //   internal const int INST_POPUP = 11                   // [ID, CODE, MSG] (in (string) "msg" + STR_MESSAGE_END_CHAR) (NOT IMPLEMENTED)
         internal const int INST_SET_TOOL = 12;               // [ID, CODE, X, Y, Z, RX, RY, RZ, KG] (in (int) M * FACTOR_M, RAD * FACTOR_RAD, KG * FACTOR_KG)
         internal const int INST_SET_DIGITAL_OUT = 13;        // [ID, CODE, PIN, ON, TOOL] (in (int), bool) 
-        internal const int INST_SET_ANALOG_OUT = 14;         // [ID, CODE, PIN, VOLTAGE, TOOL] (in (int) VOLTAGE * FACTOR_VOLT) (there is no analog out on the tool)
+        internal const int INST_SET_ANALOG_OUT = 14;         // [ID, CODE, PIN, VOLTAGE] (in (int) VOLTAGE * FACTOR_VOLT) (there is no analog out on the tool)
         // This value sets the same speed value for TCP and Q, taken as mm/s and deg/s. E.g: if setting to 20 mm/s or deg/s, the received value should be 0.02 m/s * FACTOR_M, and this will be converted internally to 0.349 rad/s (=20 deg/s)
         internal const int INST_ALL_SPEED = 15;              // [ID, CODE, VEL] (in (int) M/S * FACTOR_M)
         // Similarly here, a received value in "puffed" m/s^2 will be internally translated to rad/s^2

src/Machina/Drivers/Communication/Protocols/URCommunicationProtocol.cs

@@ -41,7 +41,7 @@ def machina_ur_driver():
 #   INST_POPUP = 11                   # [ID, CODE, MSG] (in (string) "msg" + STR_MESSAGE_END_CHAR) (NOT IMPLEMENTED)
   INST_SET_TOOL = 12                # [ID, CODE, X, Y, Z, RX, RY, RZ, KG] (in (int) M * FACTOR_M, RAD * FACTOR_RAD, KG * FACTOR_KG)
   INST_SET_DIGITAL_OUT = 13         # [ID, CODE, PIN, ON, TOOL] (in (int), bool)
-  INST_SET_ANALOG_OUT = 14          # [ID, CODE, PIN, VOLTAGE, TOOL] (in (int) VOLTAGE * FACTOR_VOLT) (there is no analog out on the tool)
+  INST_SET_ANALOG_OUT = 14          # [ID, CODE, PIN, VOLTAGE] (in (int) VOLTAGE * FACTOR_VOLT) (there is no analog out on the tool)
   # This value sets the same speed value for TCP and Q, taken as mm/s and deg/s. E.g: if setting to 20 mm/s or deg/s, the received value should be 0.02 m/s * FACTOR_M, and this will be converted internally to 0.349 rad/s (=20 deg/s)
   INST_ALL_SPEED = 15               # [ID, CODE, VEL] (in (int) M/S * FACTOR_M)
   # Similarly here, a received value in "puffed" m/s^2 will be internally translated to rad/s^2
@@ -193,7 +193,7 @@ def machina_ur_driver():
         end
 
       elif action_code == INST_SET_ANALOG_OUT:
-        params3 = socket_read_binary_integer(3)
+        params3 = socket_read_binary_integer(2)
         set_standard_analog_out(params3[1], params3[2] / FACTOR_VOLT)
 
       elif action_code == INST_ALL_SPEED:

src/Machina/Resources/DriverModules/UR/machina_ur_driver.script

@@ -39,12 +39,12 @@ public class Robot
         /// <summary>
         /// Build number.
         /// </summary>
-        public static readonly int Build = 1504;
+        public static readonly int Build = 1505;
 
         /// <summary>
         /// Version number.
         /// </summary>
-        public static readonly string Version = "0.8.12." + Build;
+        public static readonly string Version = "0.8.13." + Build;
 
         /// <summary>
         /// A nickname for this Robot.