pshell_config/mxsc
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gac-S_Changer
2017-03-22 16:36:55 +01:00
parent 68f1febe24
commit ffdaed047b
4 changed files with 19 additions and 11 deletions
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25
script/RobotSC.py
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@@ -1,5 +1,7 @@
run("RobotTCP")
simulation = True
class RobotSC(RobotTCP):
def mount(self, puck, sample):
return self.execute('mount', puck, sample)
@@ -16,21 +18,26 @@ class RobotSC(RobotTCP):
#print "EVT: " + ev
pass
def doUpdate(self):
start = time.time()
RobotTCP.doUpdate(self)
if self.state != State.Offline:
self.get_joint_forces()
for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]:
dev.update()
def doUpdate(self):
#start = time.time()
global simulation
if (!simulation):
RobotTCP.doUpdate(self)
if self.state != State.Offline:
self.get_joint_forces()
for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]:
dev.update()
#print time.time() -start
add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
add_device(RobotSC("robotemulator","129.129.126.174:851"),force = False)
if simulation:
add_device(RobotSC("robot","129.129.126.174:851"),force = True)
else:
add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
robot.setPolling(20)
#robot.set_monitor_speed(20)