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This commit is contained in:
gac-S_Changer
2017-02-27 10:01:19 +01:00
parent e7090bc1aa
commit 2bf30776f4
2 changed files with 38 additions and 38 deletions
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2
script/local.py
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@@ -55,7 +55,7 @@ class RobotModbus(DeviceBase):
def mount(self, puck, sample):
return self.execute('1', '1', puck, sample)
add_device(RobotModbus("robot"), force = True)
add_device(RobotModbus("robot_modbus"), force = True)

74
script/test/TestRobot.py
View File

@@ -1,41 +1,41 @@
robot_tcp.task_create("simulateEvents",3, name = "test", priority = 20)
print robot_tcp.get_task_status("test")
print robot_tcp.get_task_status("tests")
robot.task_create("simulateEvents",3, name = "test", priority = 20)
print robot.get_task_status("test")
print robot.get_task_status("tests")
robot_tcp.task_suspend("test")
print robot_tcp.get_task_status("test")
robot_tcp.task_resume("test")
print robot_tcp.get_task_status("test")
robot.task_suspend("test")
print robot.get_task_status("test")
robot.task_resume("test")
print robot.get_task_status("test")
robot_tcp.task_kill("test")
print robot_tcp.get_task_status("test")
robot.task_kill("test")
print robot.get_task_status("test")
print robot_tcp.is_powered()
print robot_tcp.get_monitor_speed()
#print robot_tcp.set_monitor_speed(20)
print robot_tcp.enable()
print robot_tcp.disable()
print robot_tcp.is_calibrated()
print robot_tcp.read_working_mode()
print robot_tcp.get_emergency_stop_sts()
print robot_tcp.get_safety_fault_signal()
print robot_tcp.stop()
print robot_tcp.resume()
print robot_tcp.resetMotion()
print robot_tcp.is_empty()
print robot_tcp.is_settled()
print robot_tcp.get_move_id()
print robot_tcp.set_move_id(10)
print robot_tcp.get_joint_forces()
#print robot_tcp.open("gripper")
#print robot_tcp.close("gripper")
print robot_tcp.herej()
print robot_tcp.distance_t("t", "t")
print robot_tcp.distance_p("p", "p")
print robot_tcp.compose( "p", "world", "t")
print robot_tcp.here("gripper", "world")
print robot_tcp.joint_to_point("gripper", "world", "j")
print robot_tcp.point_to_joint("gripper", "j", "p")
print robot_tcp.position("p", "world")
print robot_tcp.mount(1, 2)
print robot.is_powered()
print robot.get_monitor_speed()
#print robot.set_monitor_speed(20)
print robot.enable()
print robot.disable()
print robot.is_calibrated()
print robot.read_working_mode()
print robot.get_emergency_stop_sts()
print robot.get_safety_fault_signal()
print robot.stop()
print robot.resume()
print robot.resetMotion()
print robot.is_empty()
print robot.is_settled()
print robot.get_move_id()
print robot.set_move_id(10)
print robot.get_joint_forces()
#print robot.open("gripper")
#print robot.close("gripper")
print robot.herej()
print robot.distance_t("t", "t")
print robot.distance_p("p", "p")
print robot.compose( "p", "world", "t")
print robot.here("gripper", "world")
print robot.joint_to_point("gripper", "world", "j")
print robot.point_to_joint("gripper", "j", "p")
print robot.position("p", "world")
print robot.mount(1, 2)