Obbart/universal_robots_ros_driver
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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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22
include/ur_modern_driver/ur/commander.h
View File

@@ -49,7 +49,27 @@ public:
{ {
} }
virtual bool speedj(std::array<double, 6> &speeds, double acceleration); virtual bool speedj(std::array<double, 6> &speeds, double acceleration) = 0;
virtual bool setDigitalOut(uint8_t pin, bool value); virtual bool setDigitalOut(uint8_t pin, bool value);
virtual bool setAnalogOut(uint8_t pin, double value); virtual bool setAnalogOut(uint8_t pin, double value);
}; };
class URCommander_V3_1__2 : public URCommander_V3_X
{
public:
URCommander_V3_1__2(URStream &stream) : URCommander_V3_X(stream)
{
}
virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
};
class URCommander_V3_3 : public URCommander_V3_X
{
public:
URCommander_V3_3(URStream &stream) : URCommander_V3_X(stream)
{
}
virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
};

4
include/ur_modern_driver/ur/factory.h
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@@ -80,8 +80,10 @@ public:
{ {
if (major_version_ == 1) if (major_version_ == 1)
return std::unique_ptr<URCommander>(new URCommander_V1_X(stream)); return std::unique_ptr<URCommander>(new URCommander_V1_X(stream));
else if (minor_version_ < 3)
return std::unique_ptr<URCommander>(new URCommander_V3_1__2(stream));
else else
return std::unique_ptr<URCommander>(new URCommander_V3_X(stream)); return std::unique_ptr<URCommander>(new URCommander_V3_3(stream));
} }
std::unique_ptr<URParser<StatePacket>> getStateParser() std::unique_ptr<URParser<StatePacket>> getStateParser()

32
src/ur/commander.cpp
View File

@@ -86,16 +86,6 @@ bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
return write(s); 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) bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value)
{ {
std::ostringstream out; std::ostringstream out;
@@ -130,3 +120,25 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
std::string s(out.str()); std::string s(out.str());
return write(s); 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);
}