Obbart/universal_robots_ros_driver
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extended SetIO service to correctly set configurable and tool digital output

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This commit is contained in:
Tristan Schnell
2019-08-01 12:54:39 +02:00
parent 02fac9cec0
commit c6a5df9fdc
3 changed files with 15 additions and 3 deletions
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4
ur_rtde_driver/resources/rtde_input_recipe.txt
View File

@@ -2,6 +2,10 @@ speed_slider_mask
speed_slider_fraction speed_slider_fraction
standard_digital_output_mask standard_digital_output_mask
standard_digital_output standard_digital_output
configurable_digital_output_mask
configurable_digital_output
tool_digital_output_mask
tool_digital_output
standard_analog_output_mask standard_analog_output_mask
standard_analog_output_type standard_analog_output_type
standard_analog_output_0 standard_analog_output_0

8
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -546,8 +546,16 @@ void HardwareInterface::speedScalingCallback(const std_msgs::Float64::ConstPtr&
bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res) bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res)
{ {
if (req.fun == req.FUN_SET_DIGITAL_OUT) if (req.fun == req.FUN_SET_DIGITAL_OUT)
{
if (req.pin <= 7)
{ {
res.success = ur_driver_->getRTDEWriter().sendStandardDigitalOutput(req.pin, req.state); res.success = ur_driver_->getRTDEWriter().sendStandardDigitalOutput(req.pin, req.state);
} else if (req.pin <= 15)
{
res.success = ur_driver_->getRTDEWriter().sendConfigurableDigitalOutput(req.pin-8, req.state);
} else {
res.success = ur_driver_->getRTDEWriter().sendToolDigitalOutput(req.pin-16, req.state);
}
} }
else if (req.fun == req.FUN_SET_ANALOG_OUT) else if (req.fun == req.FUN_SET_ANALOG_OUT)
{ {

4
ur_rtde_driver/src/rtde/rtde_writer.cpp
View File

@@ -151,8 +151,8 @@ bool RTDEWriter::sendToolDigitalOutput(uint8_t output_pin, bool value)
{ {
digital_output = 0; digital_output = 0;
} }
success = package->setData("tooldigital_output_mask", mask); success = package->setData("tool_digital_output_mask", mask);
success = success && package->setData("tooldigital_output", digital_output); success = success && package->setData("tool_digital_output", digital_output);
if (success) if (success)
{ {