From 9acd2b174af98f94b334b3cd7e739b4453737907 Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Thu, 23 Feb 2017 16:30:30 +0100 Subject: [PATCH] Script execution --- script/RobotTCP.py | 25 +++++++++++++++++++++++-- 1 file changed, 23 insertions(+), 2 deletions(-) diff --git a/script/RobotTCP.py b/script/RobotTCP.py index a4064a6..b810a96 100644 --- a/script/RobotTCP.py +++ b/script/RobotTCP.py @@ -239,15 +239,36 @@ class RobotTCP(TcpDevice, Stoppable): def herej(self): return self.eval_jnt("herej()") + def distance_t(self, trsf1, trsf2): + return self.eval_float("distance(" + trsf1 + ", " + trsf2 + ")") + def distance_p(self, pnt1, pnt2): + return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")") + + def compose(self, pnt, frame): + return self.eval_pnt("compose(" + pnt + ", " + frame + ")") + + def herej(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)") + return get_jnt() + + def position(self, point, frame) + return self.eval_trf("position(" + point + ", " + frame + ")") + #Updating def update_status(self): #TODO: This can optimized with a single call self.read_working_mode() self.is_powered() self.get_monitor_speed() - #self.is_empty() - #self.is_settled() + self.is_empty() + self.is_settled() def poll_events(self): ev = self.read_event()