Obbart/universal_robots_ros_driver
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turn around order of commands and keepalive

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This way we can leave the commands empty very easily
This commit is contained in:
Felix Mauch
2019-06-26 08:46:21 +02:00
parent 1caa2c4a97
commit 8c9f79bc3b
2 changed files with 23 additions and 16 deletions
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16
ur_rtde_driver/resources/servoj.urscript
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@@ -71,16 +71,20 @@ socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
thread_servo = run servoThread()
keepalive = -2
params_mult = socket_read_binary_integer(6+1, "reverse_socket")
keepalive = params_mult[7]
params_mult = socket_read_binary_integer(1+6, "reverse_socket")
keepalive = params_mult[1]
while keepalive > 0:
enter_critical
socket_send_line(1, "reverse_socket")
params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation
params_mult = socket_read_binary_integer(1+6, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation
if params_mult[0] > 0:
keepalive = params_mult[7]
q = [params_mult[1] / MULT_jointstate, params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate]
set_servo_setpoint(q)
if params_mult[1] > 1:
keepalive = params_mult[1]
q = [params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate, params_mult[7] / MULT_jointstate]
set_servo_setpoint(q)
else:
keepalive = 1
end
else:
keepalive = keepalive - 1
end