From e9b8f0ca9aaa9f164fc61567f96d32caa2c6b2d8 Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier@dummy.com>
Date: Mon, 18 Mar 2013 09:52:24 +0100
Subject: [PATCH] move back new methods to URRobot class

---
 urx/urx.py | 24 +++++++++++++++---------
 1 file changed, 15 insertions(+), 9 deletions(-)

diff --git a/urx/urx.py b/urx/urx.py
index 28a9995..3c92496 100644
--- a/urx/urx.py
+++ b/urx/urx.py
@@ -378,6 +378,18 @@ class URRobot(object):
         if self.rtmon:
             self.rtmon.stop()
 
+    def set_freedrive(self, val):
+        if val:
+            self.sendProgram("set robotmode freedrive")
+        else:
+            self.sendProgram("set robotmode run")
+
+    def set_simulation(self, val):
+        if val:
+            self.sendProgram("set sim")
+        else:
+            self.sendProgram("set real")
+
 
 
 class Robot(object):
@@ -516,17 +528,11 @@ class Robot(object):
         return self.robot.getAnalogInput(nb)
 
     def set_freedrive(self, val):
-        if val:
-            self.robot.sendProgram("set robotmode freedrive")
-        else:
-            self.robot.sendProgram("set robotmode run")
+        self.robot.set_freedrive(val)
 
     def set_simulation(self, val):
-        if val:
-            self.robot.sendProgram("set sim")
-        else:
-            self.robot.sendProgram("set real")
-
+        self.robot.set_simulation(val)
+ 
     def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False):
         """
         wrapper around the movej command in URRobot