Commit 13754e72 authored by Daniella Tola's avatar Daniella Tola
Browse files

added movep

parent d441d4fe
......@@ -93,15 +93,20 @@ class RobotConnection:
self._ensure_ready()
def movej(self, q=np.zeros(6), v=None, a=None, t=None, r=None):
q_string, opts_string = self._move(q,v,a,r)
q_string, opts_string = self._move(q=q,v=v,a=a,t=t,r=r)
program = "movej("+q_string+opts_string+")\n"
self._send_ctrl_cmd(program)
def movel(self, q=np.zeros(6), v=None, a=None, t=None, r=None):
q_string, opts_string = self._move(q,v,a,r)
def movel(self, q=np.zeros(6), v=None, a=None, r=None):
q_string, opts_string = self._move(q=q,v=v,a=a,r=r)
program = "movel("+q_string+opts_string+")\n"
self._send_ctrl_cmd(program)
def movep(self, p=np.zeros(6),v=None, a=None, r=None):
q_string, opts_string = self._move(q=p,v=v,a=a,r=r)
program = "movep("+q_string+opts_string+")\n"
self._send_ctrl_cmd(program)
def screw_driving(self, f, v_limit):
"""
f: The amount of force the robot will exert along the TCP Z-axis (Newtons).
......
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