ur5 - checking Tool Data (looking for info about current digital output)

robotika · Jan 17, 2015 · 050fcbb · 050fcbb
1 parent 70fb8fa
commit 050fcbb
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/ur5.py b/ur5.py
@@ -67,6 +67,11 @@ def parseData( data, robot=None, verbose=False ):
                 print "sumSpeed", sumSpeed
             if robot:
                 robot.moving = (sumSpeed > 0.000111)
+        elif packageType == 2:
+            # Tool Data
+            assert subLen == 37, subLen
+            if verbose:
+                print "Tool", struct.unpack(">bbddfBffB", data[5:subLen] )
         elif packageType == 4:
             # Cartesian Info
             assert subLen == 53, subLen