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Conditional pose 'p' prefix in movexs.

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This commit is contained in:
Morten Lind 2019-02-12 18:17:36 +01:00
parent 6e2aa2939e
commit a8515fe713
1 changed files with 4 additions and 1 deletions
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5
urx/urrobot.py
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@ -401,10 +401,13 @@ class URRobot(object):
raise RobotException( raise RobotException(
'movexs: "radius" must be a number or a list ' 'movexs: "radius" must be a number or a list '
+ 'of numbers the same length as "pose_list"!') + 'of numbers the same length as "pose_list"!')
prefix = ''
if command in ['movel', 'movec']:
prefix = 'p'
for idx, pose in enumerate(pose_list): for idx, pose in enumerate(pose_list):
prog += self._format_move(command, pose, acc, prog += self._format_move(command, pose, acc,
vel[idx], radius[idx], vel[idx], radius[idx],
prefix="p") + "\n" prefix=prefix) + "\n"
prog += end prog += end
self.send_program(prog) self.send_program(prog)
if wait: if wait: