DASL Wiki

User Tools

Site Tools

Trace:
rb5_advanced_programming

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
rb5_advanced_programming [2023/01/20 14:32] – [reqdata format] bskimrb5_advanced_programming [2023/02/07 14:22] (current) – [Exercise] bskim
Line 32: Line 32:
  
 [[rb5_advanced_programming#reqdata format|reqdata format]] [[rb5_advanced_programming#reqdata format|reqdata format]]
 +
 +==== Exercise ====
 +* Print out the RB5's current Position using script command.
 +
 +* Print out the RB5's current Joint angle using script command.
 +
 +* Move RB5 from joint angle(0,0,0,0,0,0) to angle(10,20,30,40,50,60), speed 30% using script command.
 +
 +* Move RB5 from joint Position(0.4,0,0.4,0,0,0) to Position(0.2,0.2,0.5,0,0,0), speed 30% using script command.
 +
  
 ====Example==== ====Example====
Line 126: Line 136:
 def get_data_thread(sock, q_in, q_out): def get_data_thread(sock, q_in, q_out):
     print('start')     print('start')
-    ft_calib=calib_ft_data() 
     while True:     while True:
         cmd=q_in.get()         cmd=q_in.get()
         if cmd == 1:         if cmd == 1:
             rb5_data_ = Rb5_getdata(sock)             rb5_data_ = Rb5_getdata(sock)
-            ft_data_ =  read_ft_data()-ft_calib 
-            q_out.put(ft_data_) 
             q_out.put(rb5_data_)             q_out.put(rb5_data_)
                          
rb5_advanced_programming.1674253925.txt.gz · Last modified: by bskim