adeck/python-urx-getl-rt
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add method for csys from points and read all digital ios at once

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olivier R-D 2016-04-19 12:37:20 +02:00
parent 43ac33abd5
commit f7fb1f5a12
4 changed files with 22 additions and 10 deletions
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2
setup.py
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@ -3,7 +3,7 @@ from distutils.command.install_data import install_data
setup (name = "urx", setup (name = "urx",
version = "0.9.3", version = "0.9.4",
description = "Python library to control an UR robot", description = "Python library to control an UR robot",
author = "Olivier Roulet-Dubonnet", author = "Olivier Roulet-Dubonnet",
author_email = "olivier.roulet@gmail.com", author_email = "olivier.roulet@gmail.com",

6
urx/robot.py
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@ -209,13 +209,13 @@ class Robot(URRobot):
vector = vector.list vector = vector.list
return URRobot.set_gravity(self, vector) return URRobot.set_gravity(self, vector)
def new_csys_from_pxy(self): def new_csys_from_xpy(self):
""" """
Return new coordinate system from three points: Origin, X, Y Return new coordinate system from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp based on math3d: Transform.new_from_xyp
""" """
print("A new coordinate system will be defined from the next three points") print("A new coordinate system will be defined from the next three points")
print("Firs point is origin, second X, third Y") print("Firs point is X, second Origin, third Y")
print("Set it as a new reference by calling myrobot.set_csys(new_csys)") print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter") input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values # we do not use get_pose so we avoid rounding values

6
urx/urrobot.py
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@ -171,6 +171,12 @@ class URRobot(object):
""" """
return self.secmon.get_digital_out(val, wait=wait) return self.secmon.get_digital_out(val, wait=wait)
def get_digital_out_bits(self, wait=False):
"""
get digital output as a byte
"""
return self.secmon.get_digital_out_bits(wait=wait)
def set_analog_out(self, output, val): def set_analog_out(self, output, val):
""" """
set analog output, val is a float set analog output, val is a float

18
urx/ursecmon.py
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@ -364,6 +364,12 @@ class SecondaryMonitor(Thread):
else: else:
return 0 return 0
def get_digital_out_bits(self, wait=False):
if wait:
self.wait()
with self._dictLock:
return self._dict["MasterBoardData"]["digitalOutputBits"]
def get_digital_in(self, nb, wait=False): def get_digital_in(self, nb, wait=False):
if wait: if wait:
self.wait() self.wait()
@ -375,18 +381,18 @@ class SecondaryMonitor(Thread):
else: else:
return 0 return 0
def get_analog_in(self, nb, wait=False):
if wait:
self.wait()
with self._dictLock:
return self._dict["MasterBoardData"]["analogInput" + str(nb)]
def get_digital_in_bits(self, wait=False): def get_digital_in_bits(self, wait=False):
if wait: if wait:
self.wait() self.wait()
with self._dictLock: with self._dictLock:
return self._dict["MasterBoardData"]["digitalInputBits"] return self._dict["MasterBoardData"]["digitalInputBits"]
def get_analog_in(self, nb, wait=False):
if wait:
self.wait()
with self._dictLock:
return self._dict["MasterBoardData"]["analogInput" + str(nb)]
def get_analog_inputs(self, wait=False): def get_analog_inputs(self, wait=False):
if wait: if wait:
self.wait() self.wait()