Obbart/universal_robots_ros_driver
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Run io serivce operations as secondary urscripts

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This commit is contained in:
Jørn Sandvik Nilsson
2018-03-26 11:39:32 +02:00
parent a9530c8586
commit 5c9ffe2ba1
1 changed files with 4 additions and 4 deletions
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8
src/ur/commander.cpp
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@@ -73,7 +73,7 @@ bool URCommander_V1_X::speedj(std::array<double, 6> &speeds, double acceleration
bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value) bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value)
{ {
std::ostringstream out; std::ostringstream out;
out << "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n"; out << "sec io_fun():\n" << "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n" << "end\n";
std::string s(out.str()); std::string s(out.str());
return write(s); return write(s);
} }
@@ -81,7 +81,7 @@ bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value)
bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value) bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
{ {
std::ostringstream out; std::ostringstream out;
out << "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n"; out << "sec io_fun():\n" << "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n" << "end\n";
std::string s(out.str()); std::string s(out.str());
return write(s); return write(s);
} }
@@ -89,7 +89,7 @@ bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value) bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value)
{ {
std::ostringstream out; std::ostringstream out;
out << "set_standard_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(5) << value << ")\n"; out << "sec io_fun():\n" << "set_standard_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(5) << value << ")\n" << "end\n";
std::string s(out.str()); std::string s(out.str());
return write(s); return write(s);
} }
@@ -116,7 +116,7 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
else else
return false; return false;
out << func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n"; out << "sec io_fun():\n" << func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n" << "end\n";
std::string s(out.str()); std::string s(out.str());
return write(s); return write(s);
} }