pshell_config/mxsc
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gac-S_Changer
2017-03-01 15:49:44 +01:00
parent d82813aa2f
commit 0c77e33f8c
1 changed files with 1 additions and 1 deletions
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script/RobotSC.py
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@@ -44,7 +44,7 @@ class jf6(ReadonlyRegisterBase):
return None if robot.joint_forces == None else robot.joint_forces[5]
class jfc(ReadonlyRegisterBase):
def doRead(self):
return None if robot.joint_forces == None else (robot.joint_forces[1] * robot.joint_forces[2] * robot.joint_forces[4])
return None if robot.joint_forces == None else (robot.joint_forces[1]/-70 + robot.joint_forces[2]/-25 + robot.joint_forces[4])
add_device(jf1(), force = True)
add_device(jf2(), force = True)