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Add time parameter to speedj for UR software >= 3.3

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Fixes #15.

Related to https://github.com/ThomasTimm/ur_modern_driver/issues/92
This commit is contained in:
Miguel Prada
2018-02-12 23:04:00 +01:00
committed by Simon Rasmussen
parent 0611afcf40
commit d7d84caee7
3 changed files with 46 additions and 12 deletions
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32
src/ur/commander.cpp
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@@ -86,16 +86,6 @@ bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
return write(s);
}
bool URCommander_V3_X::speedj(std::array<double, 6> &speeds, double acceleration)
{
std::ostringstream out;
out << std::fixed << std::setprecision(5);
out << "speedj(";
formatArray(out, speeds);
out << "," << acceleration << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value)
{
std::ostringstream out;
@@ -130,3 +120,25 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
std::string s(out.str());
return write(s);
}
bool URCommander_V3_1__2::speedj(std::array<double, 6> &speeds, double acceleration)
{
std::ostringstream out;
out << std::fixed << std::setprecision(5);
out << "speedj(";
formatArray(out, speeds);
out << "," << acceleration << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V3_3::speedj(std::array<double, 6> &speeds, double acceleration)
{
std::ostringstream out;
out << std::fixed << std::setprecision(5);
out << "speedj(";
formatArray(out, speeds);
out << "," << acceleration << "," << 0.008 << ")\n";
std::string s(out.str());
return write(s);
}