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
"""
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):
"""