adeck/python-urx-getl-rt
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use send_program method to ease debugging av applications

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This commit is contained in:
Olivier R-D 2013-06-25 17:01:39 +02:00
parent 93834f24d5
commit 84ab411e3f
1 changed files with 7 additions and 7 deletions
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14
urx/urx.py
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@ -103,7 +103,7 @@ class URRobot(object):
set robot flange to tool tip transformation set robot flange to tool tip transformation
""" """
prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp) prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp)
self.secmon.send_program(prog) self.send_program(prog)
def set_payload(self, weight, cog=None): def set_payload(self, weight, cog=None):
""" """
@ -117,21 +117,21 @@ class URRobot(object):
prog = "set_payload({}, ({},{},{}))".format(*cog) prog = "set_payload({}, ({},{},{}))".format(*cog)
else: else:
prog = "set_payload(%s)" % weight prog = "set_payload(%s)" % weight
self.secmon.send_program(prog) self.send_program(prog)
def set_gravity(self, vector): def set_gravity(self, vector):
""" """
set direction of gravity set direction of gravity
""" """
prog = "set_gravity(%s)" % list(vector) prog = "set_gravity(%s)" % list(vector)
self.secmon.send_program(prog) self.send_program(prog)
def send_message(self, msg): def send_message(self, msg):
""" """
send message to the GUI log tab on the robot controller send message to the GUI log tab on the robot controller
""" """
prog = "textmsg(%s)" % msg prog = "textmsg(%s)" % msg
self.secmon.send_program(prog) self.send_program(prog)
def set_digital_out(self, output, val): def set_digital_out(self, output, val):
""" """
@ -141,7 +141,7 @@ class URRobot(object):
val = "True" val = "True"
else: else:
val = "False" 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): def get_analog_inputs(self):
""" """
@ -194,14 +194,14 @@ class URRobot(object):
set analog output, val is a float set analog output, val is a float
""" """
prog = "set_analog_output(%s, %s)" % (output, val) prog = "set_analog_output(%s, %s)" % (output, val)
self.secmon.send_program(prog) self.send_program(prog)
def set_tool_voltage(self, val): def set_tool_voltage(self, val):
""" """
set voltage to be delivered to the tool, val is 0, 12 or 24 set voltage to be delivered to the tool, val is 0, 12 or 24
""" """
prog = "set_tool_voltage(%s)" % (val) 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): def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False):
""" """