Jukebox/jukebox-software
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manual open in UR5 control

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This commit is contained in:
Cole Deck 2024-05-14 18:43:43 -05:00
parent 6347cde9e2
commit 8b37661a84
1 changed files with 11 additions and 3 deletions
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12
ur5_control.py
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@ -681,7 +681,10 @@ def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
def open_gripper(): def open_gripper():
fprint("Opening gripper") fprint("Opening gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False) c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
c.open()
while not c.is_open():
time.sleep(0.01)
c.write_single_register(112, 0b0) c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000) c.write_single_register(435, 0b10000000)
@ -695,7 +698,11 @@ def open_gripper():
def close_gripper(): def close_gripper():
fprint("Closing gripper") fprint("Closing gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False) c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
c.open()
while not c.is_open():
time.sleep(0.01)
c.write_single_register(435, 0b00000000) c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1) c.write_single_register(112, 0b1)
time.sleep(0.5) time.sleep(0.5)
@ -703,6 +710,7 @@ def close_gripper():
c.write_single_register(112, 0b1) c.write_single_register(112, 0b1)
time.sleep(0.5) time.sleep(0.5)
c.close() c.close()
time.sleep(0.2)
# #
def get_position_thread(robot, pos_updates): def get_position_thread(robot, pos_updates):