UGA-Innovation-Factory/UR10-Sentry
3
0
Fork 0
mirror of https://github.com/UGA-Innovation-Factory/UR10-Sentry.git synced 2025-12-19 08:56:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

Sentry mode added

Browse Source
This commit is contained in:
Tomás L
2024-07-19 17:37:24 -04:00
parent 9b8f4d60c0
commit 133c16e474
4 changed files with 111 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Robot/UR/URModbusServer.py
View File

@@ -66,7 +66,7 @@ class URModbusServer:
packet_signs = self.modbusTCP.read_holding_registers(320, quantity=6)
if (packet is None) or (packet_signs is None):
time.sleep(0.05)
time.sleep(0.01)
print(f"Modbus Error #{tries}: retrying")
return self.get_joint_angles(tries+1)
else:
@@ -95,7 +95,7 @@ class URModbusServer:
packet = self.modbusTCP.read_holding_registers(280, quantity=6)
if (packet is None):
time.sleep(0.05)
time.sleep(0.01)
print(f"Modbus Error #{tries}: retrying")
return self.get_joint_speeds(tries+1)
else: