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Script execution

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This commit is contained in:
gac-S_Changer
2017-02-23 16:34:50 +01:00
parent 3380d756a2
commit 78d78ed303
1 changed files with 4 additions and 6 deletions
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10
script/RobotTCP.py
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@@ -193,7 +193,7 @@ class RobotTCP(TcpDevice, Stoppable):
return "off"
def get_safety_fault_signal(self):
fault = eval_bool("safetyFault(s)")
fault = self.eval_bool("safetyFault(s)")
if (fault):
return get_str("")
@@ -248,17 +248,17 @@ class RobotTCP(TcpDevice, Stoppable):
def compose(self, pnt, frame):
return self.eval_pnt("compose(" + pnt + ", " + frame + ")")
def herej(self, tool, frame):
def here(self, tool, frame):
return self.eval_pnt("here(" + tool + ", " + frame + ")")
def joint_to_point(self, tool, frame, joint):
return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")")
def point_to_joint(self, tool, initial_joint, point):
if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)")
if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)"):
return get_jnt()
def position(self, point, frame)
def position(self, point, frame):
return self.eval_trf("position(" + point + ", " + frame + ")")
#Updating
@@ -300,5 +300,3 @@ class RobotTCP(TcpDevice, Stoppable):
add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)
robot_tcp.setPolling(500)
#robot_tcp.set_monitor_speed(20)
print robot_tcp.get_joint_forces()
print robot_tcp.herej()