From a4d63f131c1fa73434ace910af1e6862557439b8 Mon Sep 17 00:00:00 2001
From: ipa-cmm-mn <matthiasnoesner@gmail.com>
Date: Mon, 23 Jun 2014 15:27:56 +0200
Subject: [PATCH] added payload const
---
ur_driver/prog | 2 ++
ur_driver/src/ur_driver/driver.py | 1 +
2 files changed, 3 insertions(+)
diff --git a/ur_driver/prog b/ur_driver/prog
index 6f118e1..eaebfa7 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -217,6 +217,8 @@ def driverProg():
#servoj(q, 3, 0.1, t)
#send_waypoint_finished(waypoint_id)
set_servo_setpoint(waypoint_id, q, t)
+ elif mtype == MSG_SET_PAYLOAD:
+ send_out("Received new payload")
elif mtype == MSG_STOPJ:
send_out("Received stopj")
stopj(1.0)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 85e6785..7e4ece8 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -46,6 +46,7 @@ MSG_MOVEJ = 4
MSG_WAYPOINT_FINISHED = 5
MSG_STOPJ = 6
MSG_SERVOJ = 7
+MSG_SET_PAYLOAD = 8
MSG_WRENCH = 9
MSG_SET_DIGITAL_OUT = 10
MSG_GET_IO = 11
--
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