Obbart/universal_robots_ros_driver
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Major refactor

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This commit is contained in:
Simon Rasmussen
2017-04-27 06:40:03 +02:00
parent 46f4e493cf
commit c59bfc78cc
22 changed files with 825 additions and 423 deletions
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38
include/ur_modern_driver/ur/commander.h
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@@ -11,18 +11,46 @@ private:
protected:
bool write(std::string& s);
void formatArray(std::ostringstream &out, std::array<double, 6> &values);
public:
URCommander(URStream& stream) : stream_(stream)
{
}
virtual bool uploadProg(std::string &s);
virtual bool speedj(std::array<double, 6> &speeds, double acceleration) = 0;
virtual bool setDigitalOut(uint8_t pin, bool value) = 0;
virtual bool setAnalogOut(uint8_t pin, double value) = 0;
//shared
bool uploadProg(std::string &s);
bool stopj(double a = 10.0);
bool setToolVoltage(uint8_t voltage);
bool setFlag(uint8_t pin, bool value);
bool setPayload(double value);
};
class URCommander_V1_X : public URCommander
{
public:
URCommander_V1_X(URStream& stream) : URCommander(stream)
{
}
virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
virtual bool setDigitalOut(uint8_t pin, bool value);
virtual bool setAnalogOut(uint8_t pin, double value);
};
class URCommander_V3_X : public URCommander
{
public:
URCommander_V3_X(URStream& stream) : URCommander(stream)
{
}
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(uint8_t pin, bool value);
virtual bool setPayload(double value);
};