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| # will pop up on tablet, "hi" | |
| # robot must be on and not e-stopped | |
| # For more commands see https://s3-eu-west-1.amazonaws.com/ur-support-site/69271/scriptManual.pdf | |
| def arbitraryname(): | |
| sleep(1.0) | |
| popup("hi") | |
| set_digital_out(8, False) | |
| end |
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| import socket | |
| import time | |
| HOST = "10.75.15.199" # The remote host | |
| PORT = 30002 # The same port as used by the server | |
| s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) | |
| s.connect((HOST, PORT)) | |
| print("Starting Program") | |
| f = open("example.UR.script", "rb") | |
| l = f.read(1024) | |
| while (l): | |
| s.send(l) | |
| l = f.read(1024) | |
| s.close() | |
| print ("Closed connection and received data") |
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| # Other possibilities | |
| # e.g. Used for RG2 gripper | |
| def olmia(): | |
| #force0 = 5 | |
| #width0 = 0 | |
| #force1 = 5 | |
| #width1 = 1100 | |
| #force2 = 40 | |
| #width2 = 0 | |
| #force3 = 40 | |
| #width3 = 1100 | |
| ## Turn off supply voltage | |
| set_tool_voltage(0) | |
| ## Wait for discharge | |
| sleep(1.0) | |
| #popup("hi4") | |
| # Turn on supply voltage | |
| set_digital_out(8, False) | |
| set_digital_out(9, False) | |
| set_tool_voltage(24) | |
| ## Wait for RG2 ready | |
| timeout = 0 | |
| while get_digital_in(9) == False: | |
| timeout = timeout+1 | |
| # sleep(0.008) | |
| sleep(0.005) | |
| if timeout > 100: | |
| # wait at most 5 secs | |
| textmsg("breaking") | |
| break | |
| end | |
| end | |
| count = 0 | |
| textmsg("beginning loop") | |
| #set_digital_out(8, True) | |
| set_digital_out(9, False) | |
| sleep(0.1) | |
| while True: | |
| textmsg("count") | |
| textmsg(count) | |
| #textmsg(count) | |
| set_digital_out(8, True) | |
| #set_digital_out(9, False) | |
| sleep(0.5) | |
| #set_digital_out(9, True) | |
| set_digital_out(8, False) | |
| sleep(0.5) | |
| count = count + 1 | |
| end | |
| end |
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