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Untested: Make movexs take sequences of the same lengths as the pose_list argument for the speeds and blend radii.

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This commit is contained in:
Morten Lind 2019-01-21 08:44:14 +01:00
parent a05418eb97
commit 8b8252b6ba
1 changed files with 35 additions and 4 deletions
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39
urx/urrobot.py
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@ -5,6 +5,8 @@ http://support.universal-robots.com/URRobot/RemoteAccess
"""
import logging
import number
import collections
from urx import urrtmon
from urx import ursecmon
@ -340,16 +342,19 @@ class URRobot(object):
self._wait_for_move(pose_to, threshold=threshold)
return self.getl()
def movels(self, pose_list, acc=0.01, vel=0.01, radius=0.01, wait=True, threshold=None):
def movels(self, pose_list, acc=0.01, vel=0.01, radius=0.01,
wait=True, threshold=None):
"""
Concatenate several movel commands and applies a blending radius
pose_list is a list of pose.
This method is usefull since any new command from python
to robot make the robot stop
"""
return self.movexs("movel", pose_list, acc, vel, radius, wait, threshold=threshold)
return self.movexs("movel", pose_list, acc, vel, radius,
wait, threshold=threshold)
def movexs(self, command, pose_list, acc=0.01, vel=0.01, radius=0.01, wait=True, threshold=None):
def movexs(self, command, pose_list, acc=0.01, vel=0.01, radius=0.01,
wait=True, threshold=None):
"""
Concatenate several movex commands and applies a blending radius
pose_list is a list of pose.
@ -359,10 +364,36 @@ class URRobot(object):
header = "def myProg():\n"
end = "end\n"
prog = header
# Check if 'vel' is a single number or a sequence.
if isinstance(vel, number.Number):
# Make 'vel' a sequence
vel = len(pose_list) * [vel]
elif not isinstance(vel, collections.Sequence):
raise RobotException(
'movexs: "vel" must be a single number or a sequence!')
# Check for adequate number of speeds
if len(vel) != len(pose_list):
raise RobotException(
'movexs: "vel" must be a number or a list '
+ 'of numbers the same length as "pose_list"!')
# Check if 'radius' is a single number.
if isinstance(radius, number.Number):
# Make 'radius' a sequence
radius = len(pose_list) * [radius]
elif not isinstance(radius, collections.Sequence):
raise RobotException(
'movexs: "radius" must be a single number or a sequence!')
# Require adequate number of radii.
if len(radius) != len(pose_list):
raise RobotException(
'movexs: "radius" must be a number or a list '
+ 'of numbers the same length as "pose_list"!')
for idx, pose in enumerate(pose_list):
if idx == (len(pose_list) - 1):
radius = 0
prog += self._format_move(command, pose, acc, vel, radius, prefix="p") + "\n"
prog += self._format_move(command, pose, acc,
vel[idx], radius[idx],
prefix="p") + "\n"
prog += end
self.send_program(prog)
if wait: