Obbart/universal_robots_ros_driver
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Fixed set_io service to work with 3.x

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This commit is contained in:
Thomas Timm Andersen
2015-12-03 10:54:36 +01:00
parent 5c71c89c1d
commit 3402db3348
2 changed files with 27 additions and 6 deletions
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1
include/ur_modern_driver/ur_driver.h
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@@ -49,6 +49,7 @@ private:
bool reverse_connected_; bool reverse_connected_;
double servoj_time_; double servoj_time_;
bool executing_traj_; bool executing_traj_;
double firmware_version_;
public: public:
UrRealtimeCommunication* rt_interface_; UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_; UrCommunication* sec_interface_;

32
src/ur_driver.cpp
View File

@@ -181,7 +181,8 @@ bool UrDriver::uploadProg() {
cmd_str += "\t\t\telif state == SERVO_RUNNING:\n"; cmd_str += "\t\t\telif state == SERVO_RUNNING:\n";
if (sec_interface_->robot_state_->getVersion() >= 3.1) if (sec_interface_->robot_state_->getVersion() >= 3.1)
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f, lookahead_time=0.03)\n", servoj_time_); sprintf(buf, "\t\t\t\tservoj(q, t=%.4f, lookahead_time=0.03)\n",
servoj_time_);
else else
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f)\n", servoj_time_); sprintf(buf, "\t\t\t\tservoj(q, t=%.4f)\n", servoj_time_);
cmd_str += buf; cmd_str += buf;
@@ -246,8 +247,8 @@ void UrDriver::closeServo(std::vector<double> positions) {
bool UrDriver::start() { bool UrDriver::start() {
if (!sec_interface_->start()) if (!sec_interface_->start())
return false; return false;
rt_interface_->robot_state_->setVersion( firmware_version_ = sec_interface_->robot_state_->getVersion();
sec_interface_->robot_state_->getVersion()); rt_interface_->robot_state_->setVersion(firmware_version_);
if (!rt_interface_->start()) if (!rt_interface_->start())
return false; return false;
ip_addr_ = rt_interface_->getLocalIp(); ip_addr_ = rt_interface_->getLocalIp();
@@ -295,15 +296,34 @@ void UrDriver::setFlag(unsigned int n, bool b) {
} }
void UrDriver::setDigitalOut(unsigned int n, bool b) { void UrDriver::setDigitalOut(unsigned int n, bool b) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n, if (firmware_version_ < 2) {
b ? "True" : "False"); sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False");
} else if (n > 9) {
sprintf(buf,
"sec setOut():\n\tset_configurable_digital_out(%d, %s)\nend\n",
n - 10, b ? "True" : "False");
} else if (n > 7) {
sprintf(buf, "sec setOut():\n\tset_tool_digital_out(%d, %s)\nend\n",
n - 8, b ? "True" : "False");
} else {
sprintf(buf, "sec setOut():\n\tset_standard_digital_out(%d, %s)\nend\n",
n, b ? "True" : "False");
}
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
print_debug(buf); print_debug(buf);
} }
void UrDriver::setAnalogOut(unsigned int n, double f) { void UrDriver::setAnalogOut(unsigned int n, double f) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_analog_out(%d, %1.4f)\nend\n", n, f); if (firmware_version_ < 2) {
sprintf(buf, "sec setOut():\n\tset_analog_out(%d, %1.4f)\nend\n", n, f);
} else {
sprintf(buf, "sec setOut():\n\tset_standard_analog_out(%d, %1.4f)\nend\n", n, f);
}
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
print_debug(buf); print_debug(buf);
} }