Obbart/universal_robots_ros_driver
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edited script for use in URCaps

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Tristan Schnell
2019-05-23 11:13:02 +02:00
parent a0ea50a031
commit 876d4a06f5
1 changed files with 70 additions and 73 deletions
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17
ur_rtde_driver/resources/servoj.urscript
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@@ -1,14 +1,13 @@
def myProg():
global steptime = get_steptime() global steptime = get_steptime()
textmsg("steptime=", steptime) textmsg("steptime=", steptime)
MULT_jointstate = {{JOINT_STATE_REPLACE}} global MULT_jointstate = {{JOINT_STATE_REPLACE}}
SERVO_UNINITIALIZED = -1 global SERVO_UNINITIALIZED = -1
SERVO_IDLE = 0 global SERVO_IDLE = 0
SERVO_RUNNING = 1 global SERVO_RUNNING = 1
cmd_servo_state = SERVO_UNINITIALIZED global cmd_servo_state = SERVO_UNINITIALIZED
cmd_servo_q = get_actual_joint_positions() global cmd_servo_q = get_actual_joint_positions()
cmd_servo_q_last = get_actual_joint_positions() global cmd_servo_q_last = get_actual_joint_positions()
def set_servo_setpoint(q): def set_servo_setpoint(q):
enter_critical enter_critical
cmd_servo_state = SERVO_RUNNING cmd_servo_state = SERVO_RUNNING
@@ -72,5 +71,3 @@ def myProg():
sleep(.1) sleep(.1)
socket_close() socket_close()
kill thread_servo kill thread_servo
end