Obbart/universal_robots_ros_driver
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Bugfixes in URScript commands

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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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2
src/ur_realtime_communication.cpp
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@@ -83,7 +83,7 @@ void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
double q3, double q4, double q5, double acc) {
char cmd[1024];
sprintf(cmd,
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %1.5f,0.02)\n",
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.02)\n",
q0, q1, q2, q3, q4, q5, acc);
addCommandToQueue((std::string) (cmd));
if (q0 != 0. or q1 != 0. or q2 != 0. or q3 != 0. or q4 != 0. or q5 != 0.) {