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Commit ba8e2270 authored by Andrew Glusiec's avatar Andrew Glusiec Committed by ipa-fxm
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updating prog

parent 1177bca2
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ur_driver/prog
+ 55
− 0
View file @ ba8e2270
......@@ -9,6 +9,11 @@ def driverProg():
MSG_STOPJ = 6
MSG_SERVOJ = 7
MSG_WRENCH = 9
MSG_SET_DIGITAL_OUT = 10
MSG_GET_IO = 11
MSG_SET_FLAG = 12
MSG_SET_TOOL_VOLTAGE = 13
MSG_SET_ANALOG_OUT = 14
MULT_wrench = 10000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
......@@ -63,6 +68,16 @@ def driverProg():
socket_send_int(floor(MULT_wrench * wrench[3]))
socket_send_int(floor(MULT_wrench * wrench[4]))
socket_send_int(floor(MULT_wrench * wrench[5]))
socket_send_int(MSG_GET_IO)
socket_send_int(1*get_digital_in(0) + 2*get_digital_in(1) + 4 * get_digital_in(2) + 8 * get_digital_in(3) + 16 * get_digital_in(4) + 32 * get_digital_in(5) + 64 * get_digital_in(6) + 128 * get_digital_in(7) + 256 * get_digital_in(8) + 512 * get_digital_in(9))
socket_send_int(1*get_digital_out(0) + 2*get_digital_out(1) + 4 * get_digital_out(2) + 8 * get_digital_out(3) + 16 * get_digital_out(4) + 32 * get_digital_out(5) + 64 * get_digital_out(6) + 128 * get_digital_out(7) + 256 * get_digital_out(8) + 512 * get_digital_out(9))
socket_send_int(pow(2,0)*get_flag(0) + pow(2,1)*get_flag(1) + pow(2,2)*get_flag(2) + pow(2,3)*get_flag(3) + pow(2,4)*get_flag(4) + pow(2,5)*get_flag(5) + pow(2,6)*get_flag(6) + pow(2,7)*get_flag(7) + pow(2,8)*get_flag(8) + pow(2,9)*get_flag(9) + pow(2,10)*get_flag(10) + pow(2,11)*get_flag(11) + pow(2,12)*get_flag(12) + pow(2,13)*get_flag(13) + pow(2,14)*get_flag(14) + pow(2,15)*get_flag(15) + pow(2,16)*get_flag(16) + pow(2,17)*get_flag(17) + pow(2,18)*get_flag(18) + pow(2,19)*get_flag(19) + pow(2,20)*get_flag(20) + pow(2,21)*get_flag(21) + pow(2,22)*get_flag(22) + pow(2,23)*get_flag(23) + pow(2,24)*get_flag(24) + pow(2,25)*get_flag(25) + pow(2,26)*get_flag(26) + pow(2,27)*get_flag(27) + pow(2,28)*get_flag(28) + pow(2,29)*get_flag(29) + pow(2,30)*get_flag(30) + pow(2,31)*get_flag(31) + pow(2,32)*get_flag(32))
socket_send_int(get_analog_out(0)*1000000)
socket_send_int(get_analog_out(1)*1000000)
socket_send_int(get_analog_in(0)*1000000)
socket_send_int(get_analog_in(1)*1000000)
socket_send_int(get_analog_in(2)*1000000)
socket_send_int(get_analog_in(3)*1000000)
#socket_send_int(7895160) # Recognizable ".xxx" or 00787878
exit_critical
end
......@@ -205,6 +220,46 @@ def driverProg():
elif mtype == MSG_STOPJ:
send_out("Received stopj")
stopj(1.0)
elif mtype == MSG_SET_DIGITAL_OUT:
#send_out("Received Digital Out Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
if params_mult[2] > 0:
set_digital_out(params_mult[1], True)
elif params_mult[2] == 0:
set_digital_out(params_mult[1], False)
end
elif mtype == MSG_SET_FLAG:
#send_out("Received Set Flag Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
if params_mult[2] != 0:
set_flag(params_mult[1], True)
elif params_mult[2] == 0:
set_flag(params_mult[1], False)
end
elif mtype == MSG_SET_ANALOG_OUT:
#send_out("Received Analog Out Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
set_analog_out(params_mult[1], (params_mult[2] / 1000000))
elif mtype == MSG_SET_TOOL_VOLTAGE:
#send_out("Received Tool Voltage Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
set_tool_voltage(params_mult[1])
else:
send_out("Received unknown message type")
end
......
ur_driver/src/ur_driver/onandoff.py 0 → 100755
+ 27
− 0
View file @ ba8e2270
#!/usr/bin/env python
import ur_IO
import time
if __name__ == "__main__":
print "toggling things"
ur_IO.get_states()
print "listener has been activated"
while(True):
ur_IO.set_tool_voltage(12)
ur_IO.set_digital_out(0, True)
ur_IO.set_analog_out(0, 0.75)
ur_IO.set_flag(0, True)
print(ur_IO.Flag_States[0])
print(ur_IO.Analog_Out_States[0])
print(ur_IO.Digital_Out_States[0])
time.sleep(1)
ur_IO.set_tool_voltage(24)
ur_IO.set_digital_out(0, False)
ur_IO.set_analog_out(0, 0.25)
ur_IO.set_flag(0, False)
print(ur_IO.Flag_States[0])
print(ur_IO.Analog_Out_States[0])
print(ur_IO.Digital_Out_States[0])
time.sleep(1)
ur_driver/src/ur_driver/ur_IO.py 0 → 100755
+ 72
− 0
View file @ ba8e2270
#!/usr/bin/env python
import sys
import rospy
from ur_driver.srv import *
from ur_driver.msg import *
FUN_SET_DIGITAL_OUT = 1
FUN_SET_FLAG = 2
FUN_SET_ANALOG_OUT = 3
FUN_SET_TOOL_VOLTAGE = 4
Flag_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
Digital_Out_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
Digital_In_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
Analog_Out_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
Analog_In_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
ANALOG_TOLERANCE_VALUE = 0.01
DELAY_TIME = 0.3
i = 0
set_io = rospy.ServiceProxy('set_io', SetIO)
def set_io_val(fun, pin, val):
rospy.wait_for_service('set_io')
try:
set_io(fun, pin, val)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
def set_tool_voltage(volts):
set_io_val(FUN_SET_TOOL_VOLTAGE, volts, 0)
def set_digital_out(pin, val):
set_io_val(FUN_SET_DIGITAL_OUT, pin, val)
if Digital_Out_States[pin] != val:
rospy.logwarn("DIGITAL OUT IS NOT A HAPPY CAMPER, its not setting a pin on the first try, it may help to increase IO_SLEEP_TIME in driver.py")
set_digital_out(pin, val)
def set_analog_out(pin, val):
set_io_val(FUN_SET_ANALOG_OUT, pin, val)
if abs(Analog_Out_States[pin] - val) > ANALOG_TOLERANCE_VALUE:
rospy.logwarn("ANALOG OUT IS NOT A HAPPY CAMPER, its not setting a pin on the first try, it may help to increase IO_SLEEP_TIME in driver.py")
set_digital_out(pin, val)
def set_flag(pin, val):
set_io_val(FUN_SET_FLAG, pin, val)
if Flag_States[pin] != val:
rospy.logwarn("SETTING A FLAG IS NOT A HAPPY CAMPER, its not setting a pin on the first try, it may help to increase IO_SLEEP_TIME in driver.py")
set_digital_out(pin, val)
def callback(data):
for i in range(0,32):
del Flag_States[i]
Flag_States.insert(i, data.flag_states[i].state)
for i in range(0,10):
del Digital_Out_States[i]
Digital_Out_States.insert(i, data.digital_out_states[i].state)
for i in range(0,10):
del Digital_In_States[i]
Digital_In_States.insert(i, data.digital_in_states[i].state)
for i in range(0,2):
del Analog_Out_States[i]
Analog_Out_States.insert(i, data.analog_out_states[i].state)
for i in range(0,4):
del Analog_In_States[i]
Analog_In_States.insert(i, data.analog_in_states[i].state)
def get_states():
rospy.init_node('UR_State_Getter')
rospy.Subscriber("io_states", IOStates, callback)
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