enable freedrive mode

2013-03-18 09:42:30 +01:00 · 2013-03-18 09:42:30 +01:00 · f36f904c0f
commit f36f904c0f
parent 513b17b090
1 changed files with 12 additions and 0 deletions
--- a/urx/urx.py
+++ b/urx/urx.py
@ -515,6 +515,18 @@ class Robot(object):
    def get_analog_in(self, 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):
        """
        wrapper around the movej command in URRobot