Commit 884ce343 authored by Mathias Haage's avatar Mathias Haage

Support more gbs cmnds

parent d3d67b02
......@@ -231,19 +231,19 @@ def test():
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 = measuremove(gbs_measuremove, 1, 0, 0, 0, 0, 5, 0, 1, 1)
ans = naillinmove(gbs_naillinmove, 1, 1, 1, 1, 0, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175), 2, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175))
#ans = circmove(gbs_circmove, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 10, 5)
#ans = combmove(gbs_combmove, (1, 0,0,0,0,0,0,10,5, 10, 100,0,0,35,0,0,15,25,35,1,2,3,10,5, 2, 1,2,3,4,5,6,10,5))
#ans = runspindle(gbs_runspindle, 5000)
#ans = stopspindle(gbs_stopspindle)
#ans = lockspindle(gbs_lockspindle)
#ans = unlockspindle(gbs_unlockspindle)
ans = runspindle(gbs_runspindle, 5000)
ans = stopspindle(gbs_stopspindle)
ans = lockspindle(gbs_lockspindle)
ans = unlockspindle(gbs_unlockspindle)
#ans = getsensorvalues(gbs_readsensor)
#ans = takepanel(gbs_takepanel)
#ans = releasepanel(gbs_releasepanel)
#ans = switchvacuum(gbs_switchvacuum)
#ans = shakevacuum(gbs_shakevacuum)
ans = takepanel(gbs_takepanel)
ans = releasepanel(gbs_releasepanel)
ans = switchvacuum(gbs_switchvacuum)
ans = shakevacuum(gbs_shakevacuum)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
......
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