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Merge pull request #10 from alvcap/master

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3.x firmware compatible, speedx, set_analog_out and new_csys_from_xpy
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ORD 2016-08-11 16:26:17 +02:00 committed by GitHub
commit e4578c6df1
3 changed files with 35 additions and 24 deletions
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37
urx/robot.py
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@ -144,14 +144,20 @@ class Robot(URRobot):
trans = self.get_pose(wait)
return trans.pos
def speedx(self, command, velocities, acc, min_time):
def speedl(self, velocities, acc, min_time):
"""
send command to robot formated like speedl or speedj
move at given velocities until minimum min_time seconds
"""
v = self.csys.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * m3d.Vector(velocities[3:])
URRobot.speedx(self, command, np.concatenate((v.array, w.array)), acc, min_time)
vels = np.concatenate((v.array, w.array))
return self.speedx("speedl", vels, acc, min_time)
def speedj(self, velocities, acc, min_time):
"""
move at given joint velocities until minimum min_time seconds
"""
return self.speedx("speedj", velocities, acc, min_time)
def speedl_tool(self, velocities, acc, min_time):
"""
@ -211,23 +217,34 @@ class Robot(URRobot):
def new_csys_from_xpy(self):
"""
Return new coordinate system from three points: X, Origin, Y
Restores and returns new coordinate system calculated from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp
"""
# Set coord. sys. to 0
self.csys = m3d.Transform()
print("A new coordinate system will be defined from the next three points")
print("Firs point is X, second Origin, third Y")
print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values
pose = URRobot.getl(self)
print("Introduced point defining X: {}".format(pose[:3]))
px = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
print("Introduced point defining Origo: {}".format(pose[:3]))
p0 = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
input("Move to third point and click Enter")
pose = URRobot.getl(self)
p1 = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
p2 = m3d.Vector(pose[:3])
return m3d.Transform.new_from_xyp(p1 - p0, p2 - p0, p0)
print("Introduced point defining Y: {}".format(pose[:3]))
py = m3d.Vector(pose[:3])
new_csys = m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
self.set_csys(new_csys)
return new_csys
@property
def x(self):

14
urx/urrobot.py
View File

@ -181,7 +181,7 @@ class URRobot(object):
"""
set analog output, val is a float
"""
prog = "set_analog_output(%s, %s)" % (output, val)
prog = "set_analog_out(%s, %s)" % (output, val)
self.send_program(prog)
def set_tool_voltage(self, val):
@ -258,18 +258,6 @@ class URRobot(object):
prog = "{}([{},{},{},{},{},{}], a={}, t_min={})".format(command, *vels)
self.send_program(prog)
def speedl(self, velocities, acc, min_time):
"""
move at given velocities until minimum min_time seconds
"""
return self.speedx("speedl", velocities, acc, min_time)
def speedj(self, velocities, acc, min_time):
"""
move at given joint velocities until minimum min_time seconds
"""
return self.speedx("speedj", velocities, acc, min_time)
def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False, threshold=None):
"""
move in joint space

8
urx/ursecmon.py
View File

@ -88,7 +88,13 @@ class ParserUtils(object):
elif ptype == 5:
allData["LaserPointer(OBSOLETE)"] = self._get_data(pdata, "iBddd", ("size", "type"))
elif ptype == 3:
allData["MasterBoardData"] = self._get_data(pdata, "iBhhbbddbbddffffBBb", ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent")) # , "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" ))
if self.version >= (3, 0):
fmt = "iBiibbddbbddffffBBb" # firmware >= 3.0
else:
fmt = "iBhhbbddbbddffffBBb" # firmware < 3.0
allData["MasterBoardData"] = self._get_data(pdata, fmt, ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent")) # , "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" ))
elif ptype == 2:
allData["ToolData"] = self._get_data(pdata, "iBbbddfBffB", ("size", "type", "analoginputRange2", "analoginputRange3", "analogInput2", "analogInput3", "toolVoltage48V", "toolOutputVoltage", "toolCurrent", "toolTemperature", "toolMode"))
elif ptype == 9: