UR_Scripting/UR_Code/5exIF.script at main · glinvad/UR_Scripting · GitHub

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def P5exIF():
  set_standard_analog_input_domain(0, 1)
  set_standard_analog_input_domain(1, 1)
  set_tool_analog_input_domain(0, 1)
  set_tool_analog_input_domain(1, 1)
  set_analog_outputdomain(0, 1)
  set_analog_outputdomain(1, 1)
  set_input_actions_to_default()
  step_count_0fe8d543_63e8_4bb4_8149_439ec9a82360 = 0.0
  thread Step_Counter_Thread_27697b7b_33cd_4354_b558_fd53d61c1bd4():
    while (True):
      step_count_0fe8d543_63e8_4bb4_8149_439ec9a82360 = step_count_0fe8d543_63e8_4bb4_8149_439ec9a82360 + 1.0
      sync()
    end
  end
  run Step_Counter_Thread_27697b7b_33cd_4354_b558_fd53d61c1bd4()
  set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
  set_tool_communication(False, 115200, 0, 1, 1.5, 3.5)
  set_tool_output_mode(0)
  set_tool_digital_output_mode(0, 1)
  set_tool_digital_output_mode(1, 1)
  set_tool_voltage(0)
  set_gravity([0.0, 0.0, 9.82])
  set_target_payload(0.000000, [0.000000, 0.000000, 0.000000], [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000])
  set_safety_mode_transition_hardness(1)
  $ 1 "BeforeStart"
  $ 2 "Script: 5_Ex_if.script"
  def If_Check(INPUT, digiIN):
  	if (digiIN == False):
  		if (get_standard_digital_out(INPUT) == True):
  			movel(p[0.10,-0.35,0.2,0.0,3.14,0.0], a=1, v=1)
  		end
  		if (get_standard_digital_out(INPUT) == False):
  			movel(p[-0.10,-0.35,0.4,0.0,3.14,0.0], a=1, v=1)
  		end
  	elif (digiIN == True):
  		if (get_standard_digital_in(INPUT) == True):
  			movel(p[0.0,-0.35,0.2,0.0,3.14,0.0], a=1, v=1)
  		end
  		if (get_standard_digital_in(INPUT) == False):
  			movel(p[0.0,-0.35,0.4,0.0,3.14,0.0], a=1, v=1)
  		end
  	end
  end
  $ 3 "'Start position'"
  # 'Start position'
  $ 4 "x≔0.0"
  global x=0.0
  $ 5 "y≔-0.35"
  global y=-0.35
  $ 6 "z≔0.3"
  global z=0.3
  $ 7 "rx≔0"
  global rx=0
  $ 8 "ry≔3.14"
  global ry=3.14
  $ 9 "rz≔0"
  global rz=0
  $ 10 "'going to start position via movej'"
  # 'going to start position via movej'
  $ 11 "movej(p[x,y,z,rx,ry,rz],a=1,v=1)"
  movej(p[x,y,z,rx,ry,rz],a=1,v=1)
  while (True):
    $ 12 "Robot Program"
    $ 13 "Wait: 0.01"
    sleep(0.01)
    $ 14 "If_Check(0,False)"
    If_Check(0,False)
  end
end