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Small fixes on RAPID code #21

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Small fixes on RAPID code #21

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18 changes: 10 additions & 8 deletions RAPID/SERVER_LEFT.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,6 @@ MODULE SERVER_L
!GLOBAL VARIABLES
!/////////////////////////////////////////////////////////////////////////////////////////////////////////

VAR num x;

!//Robot configuration
PERS tooldata currentTool:=[TRUE,[[0,0,156],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];
PERS wobjdata currentWobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
Expand Down Expand Up @@ -511,6 +509,10 @@ MODULE SERVER_L
ok:=SERVER_OK;

! holdForce range = 0 - 20 N, targetPos = 0 - 25 mm, posAllowance = tolerance of gripper closure value
ELSEIF nParams=1 THEN
Hand_GripInward\targetPos:=params{1};
ok:=SERVER_OK;

ELSEIF nParams=2 THEN
Hand_GripInward\holdForce:=params{1}\targetPos:=params{2};
ok:=SERVER_OK;
Expand All @@ -531,7 +533,7 @@ MODULE SERVER_L
ok:=SERVER_OK;

ELSEIF nParams=1 THEN
Hand_GripOutward\targetPos:=params{2};
Hand_GripOutward_GripOut\targetPos:=params{1};
ok:=SERVER_OK;

! holdForce range = 0 - 20 N, targetPos = 0 - 25 mm, posAllowance = tolerance of gripper closure value
Expand Down Expand Up @@ -653,7 +655,7 @@ MODULE SERVER_L
ENDIF
!---------------------------------------------------------------------------------------------------------------
CASE 32:
!Get Buffer Size)
!Get Buffer Size
IF nParams=0 THEN
addString:=NumToStr(BUFFER_POS,2);
ok:=SERVER_OK;
Expand Down Expand Up @@ -691,7 +693,7 @@ MODULE SERVER_L
IF nParams=7 THEN
circPoint:=[[params{1},params{2},params{3}],
[params{4},params{5},params{6},params{7}],
[0,0,0,0],
L_CONF,
externalAxis];
ok:=SERVER_OK;
ELSE
Expand All @@ -703,7 +705,7 @@ MODULE SERVER_L
IF nParams=7 THEN
cartesianTarget:=[[params{1},params{2},params{3}],
[params{4},params{5},params{6},params{7}],
[0,0,0,0],
L_CONF,
externalAxis];
MoveC circPoint,cartesianTarget,currentSpeed,currentZone,currentTool\WObj:=currentWobj;
ok:=SERVER_OK;
Expand All @@ -716,7 +718,7 @@ MODULE SERVER_L
IF nParams=7 THEN
cartesianTarget := [[params{1},params{2},params{3}],
[params{4},params{5},params{6},params{7}],
[-1,-1,0,11],
L_CONF,
externalAxis];
IF isPoseReachable(cartesianTarget, currentTool, currentWobj) THEN
addString := "1";
Expand Down Expand Up @@ -859,4 +861,4 @@ MODULE SERVER_L
ENDTEST
ENDPROC

ENDMODULE
ENDMODULE
14 changes: 9 additions & 5 deletions RAPID/SERVER_RIGHT.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -515,6 +515,10 @@ MODULE SERVER_R
ok:=SERVER_OK;

! holdForce range = 0 - 20 N, targetPos = 0 - 25 mm, posAllowance = tolerance of gripper closure value
ELSEIF nParams=1 THEN
Hand_GripInward\targetPos:=params{1};
ok:=SERVER_OK;

ELSEIF nParams=2 THEN
Hand_GripInward\holdForce:=params{1}\targetPos:=params{2};
ok:=SERVER_OK;
Expand All @@ -535,7 +539,7 @@ MODULE SERVER_R
ok:=SERVER_OK;

ELSEIF nParams=1 THEN
Hand_GripOutward\targetPos:=params{2};
Hand_GripOutward\targetPos:=params{1};
ok:=SERVER_OK;

! holdForce range = 0 - 20 N, targetPos = 0 - 25 mm, posAllowance = tolerance of gripper closure value
Expand Down Expand Up @@ -638,12 +642,11 @@ MODULE SERVER_R
bufferTargets{BUFFER_POS}:=cartesianTarget;
bufferSpeeds{BUFFER_POS}:=currentSpeed;
ENDIF
ok:=SERVER_OK;
ELSE
ok := SERVER_BAD_MSG;
addString := "Unreachable Pose";
ENDIF

ok:=SERVER_OK;
ELSE
ok:=SERVER_BAD_MSG;
ENDIF
Expand All @@ -658,7 +661,7 @@ MODULE SERVER_R
ENDIF
!---------------------------------------------------------------------------------------------------------------
CASE 32:
!Get Buffer Size)
!Get Buffer Size
IF nParams=0 THEN
addString:=NumToStr(BUFFER_POS,2);
ok:=SERVER_OK;
Expand Down Expand Up @@ -726,6 +729,7 @@ MODULE SERVER_R
IF isPoseReachable(cartesianTarget, currentTool, currentWobj) THEN
addString := "1";
ELSE
TPWrite "not reachable";
addString := "0";
ENDIF
ELSE
Expand Down Expand Up @@ -861,4 +865,4 @@ ERROR
ENDTEST
ENDPROC

ENDMODULE
ENDMODULE
52 changes: 26 additions & 26 deletions yumipy/yumi_constants.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,40 +49,40 @@ class YuMiConstants:

CMD_CODES = {
'ping': 0,
'goto_pose_linear':1,
'goto_joints': 2,
'get_pose': 3,
'get_joints':4,
'goto_pose':5,
'goto_pose_linear':1, # MoveL
'goto_joints': 2, # MoveAbsJ
'get_pose': 3, # CRobT
'get_joints':4, # CJointT
'goto_pose':5, # MoveJ
'set_tool':6,
'set_speed':8,
'set_zone':9,

'goto_pose_sync':11,
'goto_joints_sync':12,
'goto_pose_delta':13,

'close_gripper': 20,
'open_gripper': 21,
'calibrate_gripper': 22,
'set_gripper_max_speed': 23,
'set_gripper_force': 24,
'move_gripper': 25,
'get_gripper_width': 26,

'set_circ_point':35,
'move_by_circ_point':36,

'goto_pose_sync':11, # MoveL with sync
'goto_joints_sync':12, # MoveAbsJ with sync
'goto_pose_delta':13, # MoveL to "current pose + delta"

'close_gripper': 20, # g_GripIn
'open_gripper': 21, # g_GripOut
'calibrate_gripper': 22, # g_Init
'set_gripper_max_speed': 23, # g_SetMaxSpd
'set_gripper_force': 24, # g_SetForce
'move_gripper': 25, # g_MoveTo
'get_gripper_width': 26, # g_GetPos

'buffer_add': 30,
'buffer_clear': 31,
'buffer_size': 32,
'buffer_move': 33,

'is_pose_reachable': 40,
'is_joints_reachable': 41,
'buffer_move': 33, # A series of MoveL
'set_circ_point':35,
'move_by_circ_point':36, # MoveC

'is_pose_reachable': 40, # isPoseReachable
'is_joints_reachable': 41, # isJointsReachable

'close_connection': 99,
'reset_home': 100,

'reset_home': 100, # MoveAbsJ to Home
}

RES_CODES = {
Expand Down