adeck/python-urx-getl-rt
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Update urrobot.py

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This commit is contained in:
Byeongdulee 2023-07-26 07:52:08 -05:00
parent 4d06b6021d
commit d19b3e841b
1 changed files with 10 additions and 8 deletions
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18
urx/urrobot.py
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@ -251,26 +251,28 @@ class URRobot(object):
""" """
set voltage to be delivered to the tool, val is 0, 12 or 24 set voltage to be delivered to the tool, val is 0, 12 or 24
""" """
assert(val in [0, 12, 24])
prog = "set_tool_voltage(%s)" % (val) prog = "set_tool_voltage(%s)" % (val)
self.send_program(prog) self.send_program(prog)
def set_tool_digital_in(self, input_id): # def get_tool_digital_in(self, input_id):
""" # """
set voltage to be delivered to the tool, val is 0, 12 or 24 # get tool digitial input
""" # """
prog = "set_tool_digital_in(%s)" % (input_id) # prog = "get_tool_digital_in(%s)" % (input_id)
self.send_program(prog) # self.send_program(prog)
def set_tool_digital_out(self, input_id, signal_level): def set_tool_digital_out(self, input_id, signal_level):
""" """
set voltage to be delivered to the tool, val is 0, 12 or 24 set tool digital output
""" """
assert(input_id in [0, 1])
prog = "set_tool_digital_out(%s, %s)" % (input_id, signal_level) prog = "set_tool_digital_out(%s, %s)" % (input_id, signal_level)
self.send_program(prog) self.send_program(prog)
def set_tool_communication(self, enabled=True, baud_rate=9600, parity=0, stop_bits=1, rx_idle_chars=1.0, tx_idle_chars=3.5): def set_tool_communication(self, enabled=True, baud_rate=9600, parity=0, stop_bits=1, rx_idle_chars=1.0, tx_idle_chars=3.5):
""" """
set voltage to be delivered to the tool, val is 0, 12 or 24 set tool RS485 communication protocol.
""" """
prog = "set_tool_communication(%s, %s, %s, %s, %s, %s)" % (enabled, baud_rate, parity, stop_bits, rx_idle_chars, tx_idle_chars) prog = "set_tool_communication(%s, %s, %s, %s, %s, %s)" % (enabled, baud_rate, parity, stop_bits, rx_idle_chars, tx_idle_chars)
self.send_program(prog) self.send_program(prog)