Closedown

script/RobotSC.py

@@ -2,18 +2,17 @@ run("RobotTCP")
 
 simulation = True
 
+
 class RobotSC(RobotTCP):    
     def mount(self, puck, sample):
-        return self.execute('mount', puck, sample)   
+        return self.execute('mount',segment, puck, sample)   
 
     def firstmount(self, puck, sample):
-        return self.execute('firstmount', puck, sample)
+        return self.execute('firstmount', segment, puck, sample)
 
     def unmount(self, puck, sample):
-        return self.execute('unmount', puck, sample)
-
-        
-
+        return self.execute('unmount',segment, puck, sample)
+       
     def on_event(self,ev):
         #print "EVT: " + ev
         pass
@@ -26,10 +25,12 @@ class RobotSC(RobotTCP):
             if self.state != State.Offline:
                 self.get_joint_forces()
                 for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]: 
-                    dev.update()
+                    dev.update()        
+                
         #print time.time() -start
 
-
+    
+        
     
 
 
@@ -38,10 +39,12 @@ if simulation:
 else:
     add_device(RobotSC("robot", "129.129.126.100:1000"), force = True) 
 
+robot.high_level_tasks = ["mount", "firstmount"]
 robot.setPolling(20)
 #robot.set_monitor_speed(20)
 
 
+
 class jf1(ReadonlyRegisterBase):
     def doRead(self):
         return  None if robot.joint_forces == None else robot.joint_forces[0]