Obbart/universal_robots_ros_driver
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Merge pull request #41 from smart-robotics/master

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Fix mismatch in numbering digital pins between set_io and io_states
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Thomas Timm Andersen
2016-04-12 13:52:30 +02:00
parent 0dc244bbe8 3e17e760fd
commit c93d9dd543
1 changed files with 5 additions and 5 deletions
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10
src/ur_driver.cpp
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@@ -300,12 +300,12 @@ void UrDriver::setDigitalOut(unsigned int n, bool b) {
if (firmware_version_ < 2) { if (firmware_version_ < 2) {
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n, sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False"); b ? "True" : "False");
} else if (n > 9) { } else if (n > 15) {
sprintf(buf, sprintf(buf,
"sec setOut():\n\tset_configurable_digital_out(%d, %s)\nend\n", "sec setOut():\n\tset_tool_digital_out(%d, %s)\nend\n",
n - 10, b ? "True" : "False"); n - 16, b ? "True" : "False");
} else if (n > 7) { } else if (n > 7) {
sprintf(buf, "sec setOut():\n\tset_tool_digital_out(%d, %s)\nend\n", sprintf(buf, "sec setOut():\n\tset_configurable_digital_out(%d, %s)\nend\n",
n - 8, b ? "True" : "False"); n - 8, b ? "True" : "False");
} else { } else {