49 lines
1.4 KiB
Python
49 lines
1.4 KiB
Python
run("RobotTCP")
|
|
|
|
class RobotSC(RobotTCP):
|
|
def mount(self, puck, sample):
|
|
return self.execute('mount', puck, sample)
|
|
|
|
def on_event(self,ev):
|
|
#print "EVT: " + ev
|
|
pass
|
|
def doUpdate(self):
|
|
RobotTCP.doUpdate(self)
|
|
if self.state != State.Offline:
|
|
self.get_joint_forces()
|
|
|
|
|
|
|
|
|
|
|
|
add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
|
|
robot.setPolling(100)
|
|
#robot.set_monitor_speed(20)
|
|
|
|
|
|
class JF1(ReadonlyRegisterBase):
|
|
def doRead(self):
|
|
return None if robot.joint_forces == None else robot.joint_forces[0]
|
|
class JF2(ReadonlyRegisterBase):
|
|
def doRead(self):
|
|
return None if robot.joint_forces == None else robot.joint_forces[1]
|
|
class JF3(ReadonlyRegisterBase):
|
|
def doRead(self):
|
|
return None if robot.joint_forces == None else robot.joint_forces[2]
|
|
class JF4(ReadonlyRegisterBase):
|
|
def doRead(self):
|
|
return None if robot.joint_forces == None else robot.joint_forces[3]
|
|
class JF5(ReadonlyRegisterBase):
|
|
def doRead(self):
|
|
return None if robot.joint_forces == None else robot.joint_forces[4]
|
|
class JF6(ReadonlyRegisterBase):
|
|
def doRead(self):
|
|
return None if robot.joint_forces == None else robot.joint_forces[5]
|
|
|
|
add_device(JF1(), force = True)
|
|
add_device(JF2(), force = True)
|
|
add_device(JF3(), force = True)
|
|
add_device(JF4(), force = True)
|
|
add_device(JF5(), force = True)
|
|
add_device(JF6(), force = True)
|