Obbart/universal_robots_ros_driver
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Added boundary check for setting payload

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 14:17:15 +02:00
parent 8bf9e356f5
commit 0e6fe245b9
3 changed files with 22 additions and 15 deletions
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21
src/ur_driver.cpp
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@@ -12,8 +12,10 @@
#include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max, double max_time_step, double max_vel, double min_payload, double max_payload ) :
maximum_time_step_(max_time_step), maximum_velocity_(max_vel), minimum_payload_(min_payload), maximum_payload_(max_payload) {
unsigned int safety_count_max, double max_time_step, double max_vel,
double min_payload, double max_payload) :
maximum_time_step_(max_time_step), maximum_velocity_(max_vel), minimum_payload_(
min_payload), maximum_payload_(max_payload) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max);
@@ -142,12 +144,15 @@ void UrDriver::setAnalogOut(unsigned int n, double f) {
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setPayload(double m) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_payload(%1.3f)\nend\n", m);
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
bool UrDriver::setPayload(double m) {
if ((m < maximum_payload_) && (m > minimum_payload_)) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_payload(%1.3f)\nend\n", m);
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
return true;
} else
return false;
}
void UrDriver::setMaxVel(double vel) {