From c54fd389abe79ed6034be599b6dcd89c0ca54078 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 23 Sep 2014 08:33:08 +0000
Subject: [PATCH] disable flags in io_interface and test_io
---
ur_driver/prog | 11 +----------
ur_driver/src/ur_driver/io_interface.py | 6 +++---
ur_driver/test_io.py | 10 ++++++----
3 files changed, 10 insertions(+), 17 deletions(-)
diff --git a/ur_driver/prog b/ur_driver/prog
index 653b1f5..572a09e 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -116,18 +116,9 @@ def driverProg():
exit_critical
end
- #temporarily reduce publish rate for io_states
- io_count = 0
- io_slowdown_ratio = 10
-
send_io_state()
while True:
- if io_count != io_slowdown_ratio:
- io_count=io_count+1
- else:
- send_io_state()
- io_count=0
- end
+ send_io_state()
sync()
end
sync()
diff --git a/ur_driver/src/ur_driver/io_interface.py b/ur_driver/src/ur_driver/io_interface.py
index a7fa6d7..3e0a44c 100644
--- a/ur_driver/src/ur_driver/io_interface.py
+++ b/ur_driver/src/ur_driver/io_interface.py
@@ -50,9 +50,9 @@ def set_flag(pin, val):
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(0,32):
+ #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)
diff --git a/ur_driver/test_io.py b/ur_driver/test_io.py
index 1d62d17..a38be3c 100755
--- a/ur_driver/test_io.py
+++ b/ur_driver/test_io.py
@@ -10,16 +10,18 @@ if __name__ == "__main__":
set_tool_voltage(12)
set_digital_out(0, True)
set_analog_out(0, 0.75)
- set_flag(0, True)
- print(Flag_States[0])
+ print "Flags are currently not supported"
+ #set_flag(0, True)
+ #print(Flag_States[0])
print(Analog_Out_States[0])
print(Digital_Out_States[0])
time.sleep(1)
set_tool_voltage(24)
set_digital_out(0, False)
set_analog_out(0, 0.25)
- set_flag(0, False)
- print(Flag_States[0])
+ print "Flags are currently not supported"
+ #set_flag(0, False)
+ #print(Flag_States[0])
print(Analog_Out_States[0])
print(Digital_Out_States[0])
time.sleep(1)
--
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