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remove more code duplication, port test_all.py to api changes

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Olivier R-D
2015-05-23 09:41:30 +02:00
parent 7767dc5ede
commit 0b84a3a5ed
2 changed files with 50 additions and 54 deletions
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28
examples/test_all.py
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@ -9,21 +9,22 @@ import sys
import urx
import logging
if sys.version_info[0] < 3: #support python v2
if sys.version_info[0] < 3: # support python v2
input = raw_input
def wait():
global do_wait
if do_wait:
input()
if __name__ == "__main__":
logging.basicConfig(level=logging.WARN)
do_wait = True
if len(sys.argv) > 1:
do_wait = False
else:
do_wait = True
rob = urx.Robot("192.168.1.6")
#rob = urx.Robot("192.168.1.6")
rob = urx.Robot("localhost")
rob.set_tcp((0, 0, 0, 0, 0, 0))
rob.set_payload(0.5, (0, 0, 0))
try:
@ -31,11 +32,11 @@ if __name__ == "__main__":
v = 0.05
a = 0.3
r = 0.01
print("Digital out 0 and 1 are: ", rob.get_digital_out(0), rob.get_digital_out(1) )
print("Digital out 0 and 1 are: ", rob.get_digital_out(0), rob.get_digital_out(1))
print("Analog inputs are: ", rob.get_analog_inputs())
initj = rob.getj()
print("Initial joint configuration is ", initj)
t = rob.get_transform()
t = rob.get_pose()
print("Transformation from base to tcp is: ", t)
print("Translating in x")
@ -49,7 +50,7 @@ if __name__ == "__main__":
pose[2] += l
rob.movel(pose, acc=a, vel=v, wait=False)
print("Waiting for end move")
rob.wait_for_move()
rob.wait_for_move(0, pose)
print("Moving through several points with a radius")
wait()
@ -62,7 +63,7 @@ if __name__ == "__main__":
print("rotate tcp around around base z ")
wait()
t.orient.rotate_zb(pi / 8)
rob.apply_transform(t, vel=v, acc=a)
rob.set_pose(t, vel=v, acc=a)
print("moving in tool z")
wait()
@ -78,14 +79,13 @@ if __name__ == "__main__":
print("Test movep, it will fail on older controllers")
wait()
init = rob.get_transform()
init = rob.get_pose()
pose = init.copy()
for _ in range(3):
pose.pos[0] += l
rob.movep(pose, acc=a, vel=v, radius=r)
rob.movep(init, acc=a, vel=v, radius=r)#back to start
rob.movep(init, acc=a, vel=v, radius=r) # back to start
print("Test movec")
wait()
via = init.copy()
@ -95,9 +95,7 @@ if __name__ == "__main__":
rob.movec(via, to, acc=a, vel=v, radius=r)
print("Sending robot back to original position")
rob.movej(initj, acc=0.8, vel=0.2)
rob.movej(initj, acc=0.8, vel=0.2)
finally:
rob.close()