add support for UR robot

BCDA-APS / apstools

various tools for use with Bluesky at the APS

https://bcda-aps.github.io/apstools/latest/

Other

16 stars 9 forks source link

Open prjemian opened 6 months ago

prjemian commented 6 months ago

Build ophyd Device classes as appropriate.

prjemian commented 6 months ago

The dashboard might be a good starting place.

prjemian commented 6 months ago

Perhaps a plan to bps.trigger(ur3.play):

prjemian commented 6 months ago

Monitor the joint positions:

prjemian commented 6 months ago

Status object might watch this PV ("$(P)$(R)Dashboard:Running") for completion of the play trigger.

prjemian commented 6 months ago

Needs a suspender if safety mode is tripped: