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@@ -44,12 +44,19 @@ public class GripperGripNodeContribution implements ProgramNodeContribution {
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public void generateScript(ScriptWriter writer) {
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String ioNameOpen=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getGripOpenIO();
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String ioNameClose=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getGripCloseIO();
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+ String ioNameWaitFor=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getWaitforIO();
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+
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int idxOpen = IOHandler.getIOIndex(ioNameOpen);
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int idxClose = IOHandler.getIOIndex(ioNameClose);
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+ int idxWaitFor = IOHandler.getIOIndex(ioNameWaitFor);
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+
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if(model.get(KEY_ACTION,"GRIP").equals("GRIP")) {
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writer.appendLine("set_standard_digital_out("+ idxOpen +", True)");
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writer.appendLine("set_standard_digital_out("+ idxClose +", False)");
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} else {
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+ writer.appendLine("while get_standard_digital_in("+idxWaitFor+") != True:");
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+ writer.appendLine("end");
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+
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writer.appendLine("set_standard_digital_out("+ idxOpen +", False)");
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writer.appendLine("set_standard_digital_out("+ idxClose +", True)");
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}
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