UGA-Innovation-Factory/UR10-Sentry
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Vertical-Attempt-1

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This commit is contained in:
Tomás L
2024-07-22 18:36:51 -04:00
parent 0445a7354e
commit 7694f1a968
4 changed files with 92 additions and 43 deletions
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10
Robot/UR/URModbusServer.py
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@@ -42,7 +42,7 @@ class URModbusServer:
if packet is None:
time.sleep(0.5)
print("Modbus Error: retrying")
print("[TCP] Modbus Error: retrying")
return self.get_tcp_position()
else:
x = self._format(packet[9:11]) / 10
@@ -59,7 +59,7 @@ class URModbusServer:
:return: Readable angle values of each joint in radials
"""
if tries>10:
print("Modbus Error: Failed")
print("[Angles] Modbus Error: Failed")
return 0, 0, 0, 0, 0, 0
packet = self.modbusTCP.read_holding_registers(270, quantity=6)
@@ -67,7 +67,7 @@ class URModbusServer:
if (packet is None) or (packet_signs is None):
time.sleep(0.01)
print(f"Modbus Error #{tries}: retrying")
print(f"[Angles] Modbus Error: retrying")
return self.get_joint_angles(tries+1)
else:
base = self._format_sign(packet[9:11], packet_signs[9:11])
@@ -89,14 +89,14 @@ class URModbusServer:
:return: Readable angle speeds of each joint in radians per second
"""
if tries>10:
print("Modbus Error: Failed")
print("[Speeds] Modbus Error: Failed")
return 0, 0, 0, 0, 0, 0
packet = self.modbusTCP.read_holding_registers(280, quantity=6)
if (packet is None):
time.sleep(0.01)
print(f"Modbus Error #{tries}: retrying")
print(f"[Speeds] Modbus Error: retrying")
return self.get_joint_speeds(tries+1)
else:
base = self._format(packet[9:11]) / 1000