robot_controller.robot Class Reference

Robot Class. More...

Public Member Functions
def	__init__ (self, robotIP)
	Initializes the robot. More...
def	read_current_joint_position (self)
	Updates the robots joint position list. More...
def	read_joint_position_register (self)
	Reads joint position register(PR1) and prints the value and prints list. More...
def	write_joint_offset (self, joint, value)
def	write_joint_position (self, joint, value)
def	set_pose (self, joint_position_array)
def	set_joints_to_home_position (self)
def	get_coords (self)
def	read_cartesian_position_register (self)
def	send_coords (self, X, Y, Z, W=None, P=None, R=None)
def	get_radians (self)
def	send_radians (self, radians)
def	set_speed (self, value)
def	get_speed (self)
def	start_robot (self, blocking=True)
def	is_moving (self)
def	set_joints_to_mount_position (self)
def	read_robot_start_register (self)
def	gripper (self, command)
def	onRobot_gripper_open (self, width_in_mm, force_in_newtons)
def	onRobot_gripper_close (self, width_in_mm, force_in_newtons)
def	conveyor_proximity_sensor (self, sensor)
def	conveyor (self, command)

Public Attributes
	robot_IP
	CurJointPosList
	CurCartesianPosList
	PRNumber
	start_register
	sync_register
	sync_value
	speed_register

Detailed Description

Robot Class.

Parameters

self,robotIP

Constructor & Destructor Documentation

__init__()

def robot_controller.robot.__init__	(		self,
			robotIP
	)

Initializes the robot.

Parameters

self	reference to current instance
robotIP	IP address of robot

Member Function Documentation

read_current_joint_position()

def robot_controller.robot.read_current_joint_position

(

self

)

Updates the robots joint position list.

Parameters

self	reference to current instance

read_joint_position_register()

def robot_controller.robot.read_joint_position_register

(

self

)

Reads joint position register(PR1) and prints the value and prints list.

Parameters

self	reference to current instance

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The documentation for this class was generated from the following file:

• robot_controller.py