Obbart/universal_robots_ros_driver
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Bugfixes in URScript commands

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This commit is contained in:
Thomas Timm Andersen
2015-09-16 15:08:46 +02:00
parent c7556ace42
commit 12b92c14db
3 changed files with 7 additions and 8 deletions
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12
src/ur_driver.cpp
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@@ -86,7 +86,7 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
timestamps[i] - timestamps[i - 1]);
command_string += buf;
}
command_string += "end\ntraj()\n";
command_string += "end\n";
//printf("%s", command_string.c_str());
rt_interface_->addCommandToQueue(command_string);
@@ -123,14 +123,14 @@ void UrDriver::setJointNames(std::vector<std::string> jn) {
void UrDriver::setToolVoltage(unsigned int v) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d)\nend\n", v);
printf("%s", buf);
//printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setFlag(unsigned int n, bool b) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_flag(%d, %s)\nend\n", n,
b ? "True" : "False");
printf("%s", buf);
//printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
@@ -138,14 +138,14 @@ void UrDriver::setDigitalOut(unsigned int n, bool b) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False");
printf("%s", buf);
//printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setAnalogOut(unsigned int n, double f) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d, %1.4f)\nend\n", n, f);
printf("%s", buf);
sprintf(buf, "sec setOut():\n\tset_analog_out(%d, %1.4f)\nend\n", n, f);
//printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}