Obbart/universal_robots_ros_driver
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Fix: New order in digital outputs

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0-7: standard digital out
8-15: configurable digital out
16-17: tool digital out
This commit is contained in:
Simon Jansen
2016-03-18 15:42:20 +01:00
parent 96d478ac2c
commit 3e17e760fd
1 changed files with 5 additions and 5 deletions
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10
src/ur_driver.cpp
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@@ -300,12 +300,12 @@ void UrDriver::setDigitalOut(unsigned int n, bool b) {
if (firmware_version_ < 2) {
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 > 15) {
sprintf(buf,
"sec setOut():\n\tset_tool_digital_out(%d, %s)\nend\n",
n - 16, b ? "True" : "False");
} else if (n > 7) {
sprintf(buf, "sec setOut():\n\tset_tool_digital_out(%d, %s)\nend\n",
sprintf(buf, "sec setOut():\n\tset_configurable_digital_out(%d, %s)\nend\n",
n - 8, b ? "True" : "False");
} else {