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Change how freedrive is instantiated. Add freedrive timeout with default

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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
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10
urx/urrobot.py
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@ -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")