UGA-Innovation-Factory/UR10-Sentry
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V1.0.0 sentry follows properly

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This commit is contained in:
Tomás L
2024-07-19 15:48:42 -04:00
parent 685c1db246
commit 9b8f4d60c0
5 changed files with 23 additions and 19 deletions
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10
Robot/UR/URModbusServer.py
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@@ -66,11 +66,10 @@ class URModbusServer:
packet_signs = self.modbusTCP.read_holding_registers(320, quantity=6)
if (packet is None) or (packet_signs is None):
time.sleep(0.01)
time.sleep(0.05)
print(f"Modbus Error #{tries}: retrying")
return self.get_joint_angles(tries+1)
else:
#print(f"Packet: {packet_signs.hex()}")
base = self._format_sign(packet[9:11], packet_signs[9:11])
shoulder = self._format_sign(packet[11:13], packet_signs[11:13])
elbow = self._format_sign(packet[13:15], packet_signs[13:15])
@@ -86,8 +85,8 @@ class URModbusServer:
def get_joint_speeds(self, tries=0):
"""
Connects with the Modbus server to requests the speed of each joint, in radians
:return: Readable angle values of each joint in radials
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:
print("Modbus Error: Failed")
@@ -96,11 +95,10 @@ class URModbusServer:
packet = self.modbusTCP.read_holding_registers(280, quantity=6)
if (packet is None):
time.sleep(0.01)
time.sleep(0.05)
print(f"Modbus Error #{tries}: retrying")
return self.get_joint_speeds(tries+1)
else:
#print(f"Packet: {packet_signs.hex()}")
base = self._format(packet[9:11]) / 1000
shoulder = self._format(packet[11:13]) / 1000
elbow = self._format(packet[13:15]) / 1000