Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Fix: New order in digital outputs

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

8
src/ur_driver.cpp
View File

@@ -300,12 +300,12 @@ void UrDriver::setDigitalOut(unsigned int n, bool b) {
if (firmware_version_ < 2) { if (firmware_version_ < 2) {
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n, sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False"); b ? "True" : "False");
} else if (n > 9) { } else if (n > 15) {
sprintf(buf, sprintf(buf,
"sec setOut():\n\tset_configurable_digital_out(%d, %s)\nend\n", "sec setOut():\n\tset_tool_digital_out(%d, %s)\nend\n",
n - 10, b ? "True" : "False"); n - 16, b ? "True" : "False");
} else if (n > 7) { } 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"); n - 8, b ? "True" : "False");
} else { } else {