Skip to content

Support Four Axes TCP Robots #7

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Yadunund wants to merge 6 commits into
base: master
Choose a base branch
from
Open

Support Four Axes TCP Robots #7

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
559a440
Added debug print
Yadunund Jul 27, 2022
c3c88f2
More debug
Yadunund Jul 27, 2022
57e7f8f
Successfully able to connect to EGM client on robot
Yadunund Jul 28, 2022
ff1927f
Cleanup printouts
Yadunund Jul 28, 2022
2e42b1d
Undo comment and line break
Yadunund Jul 28, 2022
3b2c387
Merge branch 'master' into feature/scara
Yadunund Feb 26, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions src/egm_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,14 @@ missed_messages_{MISSED_MESSAGES_THRESHOLD}
{
interface_cfg.axes = egm::RobotAxes::Seven;
}
else if(configuration.mech_unit_group.robot().axes_total() == 4)
{
interface_cfg.axes = egm::RobotAxes::Four;
}
else
{
// Default to six axes as defined in the BaseConfiguration constructor
}
}
else
{
Expand Down
9 changes: 8 additions & 1 deletion src/utilities.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,6 @@ void initializeMotionData(MotionData& motion_data, const RobotControllerDescript
motion_unit.name = unit.name();
motion_unit.type = unit.type();
motion_unit.active = unit.mode() == MechanicalUnit_Mode_ACTIVATED;
motion_unit.supported_by_egm = false;

// Set indicator for if the unit is supported by EGM or not.
if(unit.type() == MechanicalUnit_Type_TCP_ROBOT)
Expand All @@ -110,6 +109,14 @@ void initializeMotionData(MotionData& motion_data, const RobotControllerDescript
motion_unit.supported_by_egm = true;
}
}
else if (unit.axes_total() == 4)
{
motion_unit.supported_by_egm = true;
}
else
{
motion_unit.supported_by_egm = false;
}
}
else if(unit.type() == MechanicalUnit_Type_ROBOT || unit.type() == MechanicalUnit_Type_SINGLE)
{
Expand Down