add first sample file

2013-06-14 09:35:05 +02:00
parent c2112810eb
commit b600adb0fa
2 changed files with 25 additions and 2 deletions
--- a/examples/test_movep.py
+++ b/examples/test_movep.py
@ -0,0 +1,23 @@
+import urx
+import logging
+
+if __name__ == "__main__":
+    rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+    try:
+        l = 0.05
+        v = 0.05
+        a = 0.3
+        r = 0.005
+        pose = rob.getl()
+        pose[2] += l
+        rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
+        pose[1] += l 
+        rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
+        pose[2] -= l
+        rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
+        pose[1] -= l
+        rob.movep(pose, acc=a, vel=v, radius=0, wait=False)
+
+    finally:
+        rob.cleanup()
+