54 lines
1.2 KiB
Python
54 lines
1.2 KiB
Python
from time import sleep
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from client import RSIClient
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from echo_server import RSIEchoServer
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if __name__ == '__main__':
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config_file = "../../resources/Example Files/ConfigFiles/rsi examples/RSI_EthernetConfig.xml"
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# Create RSI Client
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client = RSIClient(config_file)
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# Start Server
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client.start()
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# Show variables created from config file
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client.display_variables()
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# Set cartesian correction
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client.set_axis("X", 0.1)
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# Set joint correction
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client.set_joint("A1", 0.1)
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# Move axis specific distance
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# TODO if this works, turn into a procedure
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target = 3
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rate = 0.1
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client.set_axis("X", rate)
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current = 0
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while current < target:
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sleep(client.cycle_rate)
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current += rate
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client.set_axis("X", 0)
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# Send message to Teach Pendent
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client.update_pendant("This is a message that will be shown on the pendant")
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# Set individual value
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client.set_value("EStr", "This is a test message")
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# Stop server
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client.stop()
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# Log session
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client.enable_logging()
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# Run echo server
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config_file = "RSI_EthernetConfig.xml"
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# Create RSI Client
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client = RSIEchoServer(config_file, 4)
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client.state = True
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client.run()
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