From 84ab411e3fb06801db08f57f786a4eb98f5b176a Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier@dummy.com>
Date: Tue, 25 Jun 2013 17:01:39 +0200
Subject: [PATCH] use send_program method to ease debugging av applications
---
urx/urx.py | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/urx/urx.py b/urx/urx.py
index b6786b8..6d8f8c2 100644
--- a/urx/urx.py
+++ b/urx/urx.py
@@ -103,7 +103,7 @@ class URRobot(object):
set robot flange to tool tip transformation
"""
prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp)
- self.secmon.send_program(prog)
+ self.send_program(prog)
def set_payload(self, weight, cog=None):
"""
@@ -117,21 +117,21 @@ class URRobot(object):
prog = "set_payload({}, ({},{},{}))".format(*cog)
else:
prog = "set_payload(%s)" % weight
- self.secmon.send_program(prog)
+ self.send_program(prog)
def set_gravity(self, vector):
"""
set direction of gravity
"""
prog = "set_gravity(%s)" % list(vector)
- self.secmon.send_program(prog)
+ self.send_program(prog)
def send_message(self, msg):
"""
send message to the GUI log tab on the robot controller
"""
prog = "textmsg(%s)" % msg
- self.secmon.send_program(prog)
+ self.send_program(prog)
def set_digital_out(self, output, val):
"""
@@ -141,7 +141,7 @@ class URRobot(object):
val = "True"
else:
val = "False"
- self.secmon.send_program('digital_out[%s]=%s' % (output, val))
+ self.send_program('digital_out[%s]=%s' % (output, val))
def get_analog_inputs(self):
"""
@@ -194,14 +194,14 @@ class URRobot(object):
set analog output, val is a float
"""
prog = "set_analog_output(%s, %s)" % (output, val)
- self.secmon.send_program(prog)
+ self.send_program(prog)
def set_tool_voltage(self, val):
"""
set voltage to be delivered to the tool, val is 0, 12 or 24
"""
prog = "set_tool_voltage(%s)" % (val)
- self.secmon.send_program(prog)
+ self.send_program(prog)
def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False):
"""