diff --git a/ur_driver/prog b/ur_driver/prog
index 4104e0fe082ee24646a060f5b5715abaf4e87881..de63229e2a067155451ec9b20215863494fbcc5c 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -37,91 +37,6 @@ def driverProg():
socket_send_int(waypoint_id)
exit_critical
end
-
-
- ## For joint states the real-time communication interface connection is used
- #thread statePublisherThread():
- # def send_joint_state():
- # q = get_joint_positions()
- # qdot = get_joint_speeds()
- # tau = get_joint_torques()
- # enter_critical
- # socket_send_int(MSG_JOINT_STATES)
- # socket_send_int(floor(MULT_jointstate * q[0]))
- # socket_send_int(floor(MULT_jointstate * q[1]))
- # socket_send_int(floor(MULT_jointstate * q[2]))
- # socket_send_int(floor(MULT_jointstate * q[3]))
- # socket_send_int(floor(MULT_jointstate * q[4]))
- # socket_send_int(floor(MULT_jointstate * q[5]))
- # socket_send_int(floor(MULT_jointstate * qdot[0]))
- # socket_send_int(floor(MULT_jointstate * qdot[1]))
- # socket_send_int(floor(MULT_jointstate * qdot[2]))
- # socket_send_int(floor(MULT_jointstate * qdot[3]))
- # socket_send_int(floor(MULT_jointstate * qdot[4]))
- # socket_send_int(floor(MULT_jointstate * qdot[5]))
- # socket_send_int(floor(MULT_jointstate * tau[0]))
- # socket_send_int(floor(MULT_jointstate * tau[1]))
- # socket_send_int(floor(MULT_jointstate * tau[2]))
- # socket_send_int(floor(MULT_jointstate * tau[3]))
- # socket_send_int(floor(MULT_jointstate * tau[4]))
- # socket_send_int(floor(MULT_jointstate * tau[5]))
- # #socket_send_int(7895160) # Recognizable ".xxx" or 00787878
- # exit_critical
- # end
- # #socket_open(HOSTNAME, 50002)
- # send_joint_state()
- # while True:
- # send_joint_state()
- # sync()
- # end
- # sync()
- #end
-
- ## For tcp wrenches the real-time communication interface connection is used
- #thread wrench_statePublisherThread():
- # def send_wrench_state():
- # wrench = get_tcp_force()
- # enter_critical
- # socket_send_int(MSG_WRENCH)
- # socket_send_int(floor(MULT_wrench * wrench[0]))
- # socket_send_int(floor(MULT_wrench * wrench[1]))
- # socket_send_int(floor(MULT_wrench * wrench[2]))
- # socket_send_int(floor(MULT_wrench * wrench[3]))
- # socket_send_int(floor(MULT_wrench * wrench[4]))
- # socket_send_int(floor(MULT_wrench * wrench[5]))
- # exit_critical
- # end
- # send_wrench_state()
- # while True:
- # send_wrench_state()
- # sync()
- # end
- # sync()
- #end
-
- #thread io_statePublisherThread():
- # def send_io_state():
- # enter_critical
- # 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)
- # exit_critical
- # end
- # send_io_state()
- # while True:
- # send_io_state()
- # sync()
- # end
- # sync()
- #end
-
SERVO_IDLE = 0
@@ -175,9 +90,6 @@ def driverProg():
socket_open(HOSTNAME, PORT)
send_out("hello")
- #thread_state = run statePublisherThread()
- #thread_wrench_state = run wrench_statePublisherThread()
- #thread_io_state = run io_statePublisherThread()
thread_servo = run servoThread()
# Servoes in a circle
@@ -312,10 +224,6 @@ def driverProg():
end
end
- #sleep(1)
- #kill thread_state
- #kill thread_wrench_state
- #kill thread_io_state
socket_send_int(MSG_QUIT)
end
driverProg()