From 73bafadadfb43bc8a099b048f72122d547f2ef1d Mon Sep 17 00:00:00 2001 From: Chris Gilmer Date: Tue, 11 Jul 2017 11:01:25 -0700 Subject: [PATCH] Change how freedrive is instantiated. Add freedrive timeout with default --- urx/urrobot.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/urx/urrobot.py b/urx/urrobot.py index cbbcca0..67ff400 100644 --- a/urx/urrobot.py +++ b/urx/urrobot.py @@ -387,13 +387,15 @@ class URRobot(object): if self.rtmon: self.rtmon.stop() - def set_freedrive(self, val): + def set_freedrive(self, val, timeout=60): """ - set robot in freedrive/brackdrive mode where an operator can jogg - the robot to wished pose + set robot in freedrive/backdrive mode where an operator can jog + the robot to wished pose. + + Freedrive will timeout at 60 seconds. """ if val: - self.send_program("set robotmode freedrive") + self.send_program("def myProg():\n\tfreedrive_mode()\n\tsleep({})\nend".format(timeout)) else: self.send_program("set robotmode run")