def SetJointVel(self, p):
"""
Call the SetJointVel Motion Command
this methods does not check the response
"""
if not (p >= 0 and p <= 100):
raise ValueError(
"RobotController::SetJointVel invalid value p={}".format(p))
self.send_string_command(build_command("SetJointVel", [p]))
self.update_log_for_motion_commands()
def SetCartLinVel(self, v):
"""
Call the SetCartLinVel Motion Command [mm/s]
this methods does not check the response
"""
if not (v >= 0.001 and v <= 500):
raise ValueError(
"RobotController::SetCartLinVel invalid value v={}".format(v))
self.send_string_command(build_command("SetCartLinVel", [v]))
self.update_log_for_motion_commands()
def SetAutoConf(self, e):
"""
Call the SetAutoConf Motion Command
this methods does not check the response
"""
if e is not 0 and e is not 1:
raise ValueError(
"RobotController::SetAutoConf invalid value e={}".format(e))
self.send_string_command(build_command("SetAutoConf", [e]))
self.update_log_for_motion_commands()
def SetCartAngVel(self, omega):
"""
Call the SetCartAngVel Motion Command
this methods does not check the response
"""
if not (omega >= 0.001 and omega <= 180):
raise ValueError(
"RobotController::SetCartAngVel invalid value omega={}".format(
omega))
self.send_string_command(build_command("SetCartAngVel", [omega]))
self.update_log_for_motion_commands()
def MoveJoints(self, joints):
"""
Call the MoveJoints Motion Command
joints: joints list [A1,A2,...,A6] in [deg]
this methods does not check the response
"""
if not len(joints) == 6:
raise ValueError(
"RobotController::MoveJoints Meca500 has 6 joints {} provided".
format(len(joints)))
self.send_string_command(build_command("MoveJoints", joints))
self.update_log_for_motion_commands()
def SetConf(self, c1, c3, c5):
"""
Call the SetConf Motion Command
this methods does not check the response
"""
if c1 is not -1 and c1 is not 1:
raise ValueError(
"RobotController::SetConf invalid value c1={}".format(c1))
if c3 is not -1 and c3 is not 1:
raise ValueError(
"RobotController::SetConf invalid value c3={}".format(c3))
if c5 is not -1 and c5 is not 1:
raise ValueError(
"RobotController::SetConf invalid value c5={}".format(c5))
self.send_string_command(build_command("SetConf", [c1, c3, c5]))
self.update_log_for_motion_commands()
def SetEOM(self, e):
"""
Call the SetEOM request command
"""
responses_code = []
if e == 0:
responses_code = ["2053"]
elif e == 1:
responses_code = ["2052"]
else:
raise ValueError(
"RobotController::SetEOM invalid argument e={}".format(e))
cmd = build_command("SetEOM", [e])
self.send_command_handled(cmd,
method_str="cmd",
errors_code=[],
responses_code=responses_code)
def SetWRF(self, origin, orientation):
"""
Call the SetWRF Motion Command
origin: desired frame origin [x,y,z] in [mm]
orientation: desired frame orientation - euler angle XYZ [alpha,beta,gamma] in [deg]
this methods does not check the response
"""
if not len(origin) == 3:
raise ValueError(
"RobotController::SetWRF origin must have len=3, {} provided".
format(len(origin)))
if not len(orientation) == 3:
raise ValueError(
"RobotController::SetWRF orientation must have len=3, {} provided"
.format(len(orientation)))
args = list(origin)
args.extend(orientation)
self.send_string_command(build_command("SetWRF", args))
self.update_log_for_motion_commands()
def MovePose(self, position, orientation):
"""
Call the MovePose Motion Command
position: desired position [x,y,z] in [mm]
orientation: desired euler angle XYZ [alpha,beta,gamma] in [deg]
this methods does not check the response
"""
if not len(position) == 3:
raise ValueError(
"RobotController::MovePose position must have len=3, {} provided"
.format(len(position)))
if not len(orientation) == 3:
raise ValueError(
"RobotController::MovePose orientation must have len=3, {} provided"
.format(len(orientation)))
args = list(position)
args.extend(orientation)
self.send_string_command(build_command("MovePose", args))
self.update_log_for_motion_commands()
