Closedown

script/RobotSC.py

@@ -7,8 +7,42 @@ class RobotSC(RobotTCP):
     def on_event(self,ev):
         #print "EVT: " + ev
         pass
+    def doUpdate(self):
+        RobotTCP.doUpdate(self)
+        if self.state != State.Offline:
+            self.get_joint_forces()
+
+
+    
 
 
 add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)   
 robot.setPolling(100)
 #robot.set_monitor_speed(20)
+
+
+class JF1(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[0]
+class JF2(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[1]
+class JF3(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[2]
+class JF4(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[3]
+class JF5(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[4]
+class JF6(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[5]
+
+add_device(JF1(), force = True)   
+add_device(JF2(), force = True)   
+add_device(JF3(), force = True)   
+add_device(JF4(), force = True)   
+add_device(JF5(), force = True)   
+add_device(JF6(), force = True)