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Support Four Axes TCP Robots #7

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Support Four Axes TCP Robots #7

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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
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8 changes: 8 additions & 0 deletions src/egm_manager.cpp
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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
{
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9 changes: 8 additions & 1 deletion src/utilities.cpp
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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)
{
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