adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Change how freedrive is instantiated. Add freedrive timeout with default

Browse Source
This commit is contained in:
Chris Gilmer 2017-07-11 11:01:25 -07:00 committed by oroulet
parent 80c280f5e8
commit 73bafadadf
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
urx/urrobot.py
View File

@ -387,13 +387,15 @@ class URRobot(object):
if self.rtmon: if self.rtmon:
self.rtmon.stop() 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 set robot in freedrive/backdrive mode where an operator can jog
the robot to wished pose the robot to wished pose.
Freedrive will timeout at 60 seconds.
""" """
if val: if val:
self.send_program("set robotmode freedrive") self.send_program("def myProg():\n\tfreedrive_mode()\n\tsleep({})\nend".format(timeout))
else: else:
self.send_program("set robotmode run") self.send_program("set robotmode run")