Commit d3d67b02 by Mathias Haage

### Support GBS readptp, linmove, ptpmove, locktool and unlocktool

parent f2afc4ee
 ... ... @@ -71,7 +71,7 @@ def prettyprint(array): ac = array.array[10+i] i = i + 11 print "linmove x=%f y=%f z=%f c=%f b=%f a=%f s=%f ac=%f"%(x,y,z,c,b,a,s,ac) elif near(c0,10) and near(c1,1) and near(c2,2): elif near(c0,10) and near(c1,2) and near(c2,1): j1 = array.array[3+i] j2 = array.array[4+i] j3 = array.array[5+i] ... ... @@ -85,13 +85,13 @@ def prettyprint(array): elif near(c0,2) and near(c1,1) and near(c2,4): i = i + 3 print "readlibrary" elif near(c0,2) and near(c1,1) and near(c2,5): elif near(c0,2) and near(c1,5) and near(c2,1): i = i + 3 print "readcurrentrobotpos" elif near(c0,2) and near(c1,1) and near(c2,6): elif near(c0,2) and near(c1,6) and near(c2,1): i = i + 3 print "locktool" elif near(c0,2) and near(c1,1) and near(c2,7): elif near(c0,2) and near(c1,7) and near(c2,1): i = i + 3 print "unlocktool" elif near(c0,18) and near(c1,1) and near(c2,8): ... ... @@ -276,11 +276,11 @@ def handle_gbs_lockspindle(req): def handle_gbs_locktool(req): array = Array() array.n = 3 array.array = [2,1,6] array.array = [2,6,1] prettyprint(array) comm.sendArray(array) ans = GBSLockToolResponse() ans.err = com.receiveFloat() ans.err = comm.receiveFloat() comm.receiveFloat() return ans ... ... @@ -313,12 +313,13 @@ def handle_gbs_naillinmove(req): def handle_gbs_ptpmove(req): array = Array() array.n = 11 array.array = [10,1,2, req.p.j1, req.p.j2, req.p.j3, req.p.j4, req.p.j5, req.p.j6, req.s, req.ac] array.array = [10,2,1, req.p.j1, req.p.j2, req.p.j3, req.p.j4, req.p.j5, req.p.j6, req.s, req.ac] prettyprint(array) comm.sendArray(array) ans = GBSPTPMoveResponse() ans.err1 = comm.receiveFloat() comm.receiveFloat() #ans.err1 = comm.receiveFloat() #comm.receiveFloat() ans.err1 = 0 ans.err2 = comm.receiveFloat() comm.receiveFloat() return ans ... ... @@ -326,7 +327,7 @@ def handle_gbs_ptpmove(req): def handle_gbs_readcurjointpose(req): array = Array() array.n = 3 array.array = [2,1,5] array.array = [2,5,1] prettyprint(array) comm.sendArray(array) ans = GBSReadCurJointPoseResponse() ... ... @@ -432,8 +433,9 @@ def handle_gbs_unlockspindle(req): def handle_gbs_unlocktool(req): array = Array() array.n = 3 array.array = [2,1,7] array.array = [2,7,1] prettyprint(array) comm.sendArray(array) ans = GBSUnlockToolResponse() ans.err = comm.receiveFloat() comm.receiveFloat() ... ...
 ... ... @@ -224,11 +224,13 @@ def test(): ans = linmove(gbs_linmove, 2, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175), 1, 1) ans = linmove(gbs_linmove, 0, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175), 1, 1) #ans = ptpmove(gbs_ptpmove, 1, 2, 3, 4, 5, 6, 10, 6) ans = ptpmove(gbs_ptpmove, 2000, 0, 0, 0, 5, 0, 1, 1) ans = ptpmove(gbs_ptpmove, 1000, 0, 0, 0, 5, 0, 1, 1) #readlibrary(array) #ans = readcurrentrobotpos(gbs_jointpose) #ans = locktool(gbs_locktool) #ans = unlocktool(gbs_unlocktool) ans = readcurrentrobotpos(gbs_jointpose) print 'Current robot pose ['+str(ans.p.j1)+','+str(ans.p.j2)+','+str(ans.p.j3)+','+str(ans.p.j4)+','+str(ans.p.j5)+','+str(ans.p.j6)+']' ans = locktool(gbs_locktool) ans = unlocktool(gbs_unlocktool) #ans = measuremove(gbs_measuremove, 111, 10, 11, 12, 35, 0, 0, 10, 6) #ans = naillinmove(gbs_naillinmove, 1, 1, 3, 3, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12) #ans = circmove(gbs_circmove, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 10, 5) ... ...
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