Obbart/universal_robots_ros_driver
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Added IO and payload service

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 10:37:52 +02:00
parent daa05e5004
commit b98e57a475
3 changed files with 101 additions and 29 deletions
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49
src/ur_driver.cpp
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@@ -12,11 +12,10 @@
#include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
std::vector<std::string> joint_names, unsigned int safety_count_max) {
unsigned int safety_count_max) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max);
maximum_time_step_ = 0.08;
joint_names_ = joint_names;
}
@@ -56,9 +55,9 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
}
//make sure we come to a smooth stop
while (timestamps.back() < inp_timestamps.back()) {
timestamps.push_back(timestamps.back() + 0.008);
}
timestamps.pop_back();
timestamps.push_back(timestamps.back() + 0.008);
}
timestamps.pop_back();
unsigned int j = 0;
for (unsigned int i = 0; i < timestamps.size(); i++) {
@@ -66,7 +65,8 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
j += 1;
}
positions.push_back(
UrDriver::interp_cubic(timestamps[i] - inp_timestamps[j-1], inp_timestamps[j] - inp_timestamps[j-1],
UrDriver::interp_cubic(timestamps[i] - inp_timestamps[j - 1],
inp_timestamps[j] - inp_timestamps[j - 1],
inp_positions[j - 1], inp_positions[j],
inp_velocities[j - 1], inp_velocities[j]));
}
@@ -112,3 +112,40 @@ std::vector<std::string> UrDriver::getJointNames() {
void UrDriver::setJointNames(std::vector<std::string> jn) {
joint_names_ = jn;
}
void UrDriver::setToolVoltage(unsigned int v) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d)\nend\n", v);
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setFlag(unsigned int n, bool b) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_flag(%d, %s)\nend\n", n,
b ? "True" : "False");
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setDigitalOut(unsigned int n, bool b) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False");
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setAnalogOut(unsigned int n, double f) {
char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d, %1.4f)\nend\n", n, f);
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}
void UrDriver::setPayloaf(double m){
char buf[256];
sprintf(buf, "sec setOut():\n\tset_payload(%1.3f)\nend\n", m);
printf("%s", buf);
rt_interface_->addCommandToQueue(buf);
}