Convert ur5_control to class based (untested)

run.py

@@ -12,6 +12,7 @@ from util import fprint
 from util import run_cmd
 import sys
 import ur5_control
+from ur5_control import Rob
 import os
 import signal
 import socket
@@ -37,6 +38,7 @@ killme = None
 serverproc = None
 camera = None
 ledsys = None
+arm = None
 to_server_queue = Queue()
 from_server_queue = Queue()
 
@@ -233,8 +235,9 @@ def setup_server(pool):
     global arm_ready
     global serverproc
     global camera
-
-    pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
+    global arm
+    arm = Rob(config)
+    pool.apply_async(arm.init_arm, callback=arm_start_callback)
     global ledsys
     ledsys = LEDSystem()
     pool.apply_async(ledsys.init, callback=led_start_callback)