89 lines
2.7 KiB
Python
89 lines
2.7 KiB
Python
run("devices/RobotTCP")
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simulation = True
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class RobotSC(RobotTCP):
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def mount(self, puck, sample):
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return self.execute('mount',segment, puck, sample)
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def firstmount(self, puck, sample):
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return self.execute('firstmount', segment, puck, sample)
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def unmount(self, puck, sample):
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return self.execute('unmount',segment, puck, sample)
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def on_event(self,ev):
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#print "EVT: " + ev
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pass
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def doUpdate(self):
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#start = time.time()
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RobotTCP.doUpdate(self)
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global simulation
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if not simulation:
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if self.state != State.Offline:
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self.get_joint_forces()
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for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]:
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dev.update()
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#print time.time() -start
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def start_task(self, program, *args, **kwargs):
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#TODO: Check safe position
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RobotTCP.start_task(self, program, *args, **kwargs)
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def stop_task(self):
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RobotTCP.stop_task(self)
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#TODO: Restore safe position
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if simulation:
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add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
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#add_device(RobotSC("robot","129.129.126.74:1000"),force = True)
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else:
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add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
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robot.high_level_tasks = ["mount", "firstmount"]
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robot.setPolling(20)
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#robot.set_monitor_speed(20)
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class jf1(ReadonlyRegisterBase):
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def doRead(self):
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return None if robot.joint_forces == None else robot.joint_forces[0]
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class jf2(ReadonlyRegisterBase):
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def doRead(self):
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return None if robot.joint_forces == None else robot.joint_forces[1]
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class jf3(ReadonlyRegisterBase):
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def doRead(self):
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return None if robot.joint_forces == None else robot.joint_forces[2]
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class jf4(ReadonlyRegisterBase):
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def doRead(self):
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return None if robot.joint_forces == None else robot.joint_forces[3]
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class jf5(ReadonlyRegisterBase):
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def doRead(self):
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return None if robot.joint_forces == None else robot.joint_forces[4]
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class jf6(ReadonlyRegisterBase):
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def doRead(self):
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return None if robot.joint_forces == None else robot.joint_forces[5]
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class jfc(ReadonlyRegisterBase):
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def doRead(self):
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if robot.joint_forces == None:
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return float('NaN')
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if robot.powered == False:
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return float('NaN')
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return (robot.joint_forces[1]+74)/4 + (robot.joint_forces[2]+30)/4 + (robot.joint_forces[4]-0.8)/0.2
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add_device(jf1(), force = True)
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add_device(jf2(), force = True)
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add_device(jf3(), force = True)
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add_device(jf4(), force = True)
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add_device(jf5(), force = True)
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add_device(jf6(), force = True)
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add_device(jfc(), force = True)
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