adeck/python-urx-getl-rt
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move back new methods to URRobot class

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Olivier R-D 2013-03-18 09:52:24 +01:00
parent f36f904c0f
commit e9b8f0ca9a
1 changed files with 15 additions and 9 deletions
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22
urx/urx.py
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@ -378,6 +378,18 @@ class URRobot(object):
if self.rtmon: if self.rtmon:
self.rtmon.stop() 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): class Robot(object):
@ -516,16 +528,10 @@ class Robot(object):
return self.robot.getAnalogInput(nb) return self.robot.getAnalogInput(nb)
def set_freedrive(self, val): def set_freedrive(self, val):
if val: self.robot.set_freedrive(val)
self.robot.sendProgram("set robotmode freedrive")
else:
self.robot.sendProgram("set robotmode run")
def set_simulation(self, val): def set_simulation(self, val):
if val: self.robot.set_simulation(val)
self.robot.sendProgram("set sim")
else:
self.robot.sendProgram("set real")
def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False): def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False):
""" """