UGA-Innovation-Factory/UR10-Sentry
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fixed docker port, middle pose, fixed noninputs not stopping, better modbus fail safeguards

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This commit is contained in:
Tomás L
2024-07-29 13:42:59 -04:00
parent 993385f809
commit 887d1c9e35
3 changed files with 107 additions and 61 deletions
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9
Robot/UR/URModbusServer.py
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@@ -59,7 +59,7 @@ class URModbusServer:
:return: Readable angle values of each joint in radials
"""
if tries>50:
raise Exception("[Angles] Modbus Error: Failed")
raise ModbusError("[Angles] Modbus Error: Failed")
#return 0, 0, 0, 0, 0, 0
packet = self.modbusTCP.read_holding_registers(270, quantity=6)
@@ -90,8 +90,8 @@ class URModbusServer:
:return: Readable angle speeds of each joint in radians per second
"""
if tries>50:
print("[Speeds] Modbus Error: Failed")
#raise Exception("[Speeds] Modbus Error: Failed")
#print("[Speeds] Modbus Error: Failed")
raise ModbusError("[Speeds] Modbus Error: Failed")
packet = self.modbusTCP.read_holding_registers(280, quantity=6)
@@ -160,3 +160,6 @@ class URModbusServer:
else:
d_f = round(d_f - math.radians(360), 3)
return d_f
class ModbusError(Exception):
pass