From 8560f3182a3d4232807c5f19f1504f196a1b0352 Mon Sep 17 00:00:00 2001
From: ted-miller <ted.miller@motoman.com>
Date: Fri, 29 Sep 2023 10:14:21 -0400
Subject: [PATCH] Add controller-based conditional around the Inform TIMER
 instruction

---
 src/InformCheckerAndGenerator.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/InformCheckerAndGenerator.c b/src/InformCheckerAndGenerator.c
index 9ce07bb9..74cb90b4 100644
--- a/src/InformCheckerAndGenerator.c
+++ b/src/InformCheckerAndGenerator.c
@@ -15,7 +15,13 @@ const char* rosInitJobLines[] =
     "NOP",
     "DOUT OT#(890) OFF",
     "DOUT OT#(889) OFF",
+#if defined(YRC1000) || defined(DX200) //DX2 and YRC use two digit precision on the TIMER
     "TIMER T=0.05",
+#elif defined(YRC1000u) || defined(FS100) //FS and YRCu use three digit precision on the TIMER
+    "TIMER T=0.050",
+#else
+#error Validate the precision of the TIMER instruction on the teach pendant and update this accordingly
+#endif
     "DOUT OT#(889) ON",
     "WAIT OT#(890)=ON",
     "DOUT OT#(890) OFF",