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Script execution

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This commit is contained in:
gac-S_Changer
2017-02-23 15:11:43 +01:00
parent c94c2ae0cf
commit e80e581b61
1 changed files with 11 additions and 11 deletions
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22
script/RobotTCP.py
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@@ -115,16 +115,6 @@ class RobotTCP(TcpDevice, Stoppable):
return self.get_bool(self)
def get_move_id(self):
return self.eval_int("getMoveId()")
def get_joint_forces(self):
robot_tcp.evaluate("getJointForce(arr)")
return robot_tcp.get_float_arr(6)
def get_move_id(self):
return self.eval_int("getMoveId()")
def get_emergency_stop_sts(self):
st = self.eval_int("esStatus()")
if (st== 1): return "active"
@@ -200,6 +190,16 @@ class RobotTCP(TcpDevice, Stoppable):
self.settled = self.eval_bool("isSettled()")
return self.powered
def get_move_id(self):
return self.eval_int("getMoveId()")
def set_move_id(self, id):
return self.evaluate("setMoveId(" + id + " )")
def get_joint_forces(self):
robot_tcp.evaluate("getJointForce(arr)")
return robot_tcp.get_float_arr(6)
#Updating
@@ -224,7 +224,7 @@ class RobotTCP(TcpDevice, Stoppable):
self.poll_events()
#self.setState(State.Busy if self.status=="move" else State.Ready)
self.setState(State.Ready if self.empty and self.settled else State.Busy)
print time.time() - start
#print time.time() - start
except Exception, e:
print >> sys.stderr, "Update error: " + str(e)
self.setState(State.Offline)