UGA-Innovation-Factory/UR10-Sentry
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dockerfile ready

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This commit is contained in:
Tomás L
2024-07-25 18:17:36 -04:00
parent 913af71226
commit 993385f809
4 changed files with 12 additions and 8 deletions
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10
Robot/UR/URModbusServer.py
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@@ -58,9 +58,9 @@ class URModbusServer:
Connects with the Modbus server to requests the angles of each joint, in radians
:return: Readable angle values of each joint in radials
"""
if tries>10:
print("[Angles] Modbus Error: Failed")
return 0, 0, 0, 0, 0, 0
if tries>50:
raise Exception("[Angles] Modbus Error: Failed")
#return 0, 0, 0, 0, 0, 0
packet = self.modbusTCP.read_holding_registers(270, quantity=6)
time.sleep(0.001)
@@ -89,9 +89,9 @@ class URModbusServer:
Connects with the Modbus server to requests the speed of each joint, in radians per second
:return: Readable angle speeds of each joint in radians per second
"""
if tries>10:
if tries>50:
print("[Speeds] Modbus Error: Failed")
return 0, 0, 0, 0, 0, 0
#raise Exception("[Speeds] Modbus Error: Failed")
packet = self.modbusTCP.read_holding_registers(280, quantity=6)