adeck/python-urx-getl-rt
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enable freedrive mode

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Olivier R-D
2013-03-18 09:42:30 +01:00
parent 513b17b090
commit f36f904c0f
1 changed files with 12 additions and 0 deletions
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12
urx/urx.py
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@@ -515,6 +515,18 @@ class Robot(object):
def get_analog_in(self, nb): def get_analog_in(self, nb):
return self.robot.getAnalogInput(nb) 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")
def set_simulation(self, val):
if 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):
""" """
wrapper around the movej command in URRobot wrapper around the movej command in URRobot