Obbart/universal_robots_ros_driver
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Big code dump

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This commit is contained in:
Simon Rasmussen
2017-04-17 13:03:54 +02:00
parent b4bb424058
commit 46f4e493cf
24 changed files with 989 additions and 257 deletions
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3
include/ur_modern_driver/ur/commander.h
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@@ -17,11 +17,12 @@ public:
{
}
virtual bool uploadProg(std::string &s);
virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
virtual bool stopj(double a = 10.0);
virtual bool setDigitalOut(uint8_t pin, bool value);
virtual bool setAnalogOut(uint8_t pin, double value);
virtual bool setToolVoltage(uint8_t voltage);
virtual bool setFlag(bool value);
virtual bool setFlag(uint8_t pin, bool value);
virtual bool setPayload(double value);
};