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use movep as default, small cleanups many places

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This commit is contained in:
Olivier R-D
2013-06-19 09:20:33 +02:00
parent 3f728e3e02
commit d497364919
4 changed files with 70 additions and 63 deletions
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27
examples/test_movep.py
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@ -1,22 +1,39 @@
import time
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
l = 0.1
v = 0.07
a = 0.1
r = 0.05
pose = rob.getl()
pose[2] += l
rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
while True:
p = rob.getl(wait=True)
if p[2] > pose[2] - 0.05:
break
pose[1] += l
rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
while True:
p = rob.getl(wait=True)
if p[1] > pose[1] - 0.05:
break
pose[2] -= l
rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
while True:
p = rob.getl(wait=True)
if p[2] < pose[2] + 0.05:
break
pose[1] -= l
rob.movep(pose, acc=a, vel=v, radius=0, wait=False)
rob.movep(pose, acc=a, vel=v, radius=0, wait=True)
finally:
rob.cleanup()