Add call to rtmon.getTCF() in urrobot

2024-05-09 23:12:57 +00:00 · 2024-05-09 23:12:57 +00:00 · c8c264ad6a
commit c8c264ad6a
parent 3b4ce975e6
1 changed files with 7 additions and 0 deletions
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@ -98,6 +98,13 @@ class URRobot(object):
        """
        return self.rtmon.getTCFForce(wait)

+    def getl_rt(self, wait=True):
+        """
+        return TCP (position) using RT interface
+        if wait==True, waits for next packet before returning
+        """
+        return self.rtmon.getTCF(wait)
+
    def get_force(self, wait=True):
        """
        length of force vector returned by get_tcp_force