From e80e581b610452fd38aff074b47c15ca2120a0cc Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Thu, 23 Feb 2017 15:11:43 +0100 Subject: [PATCH] Script execution --- script/RobotTCP.py | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/script/RobotTCP.py b/script/RobotTCP.py index 9e46879..f2d54cf 100644 --- a/script/RobotTCP.py +++ b/script/RobotTCP.py @@ -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)