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update.ini: Make sure that [TRAJ]MAX_LINEAR_VELOCITY exists

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Joints Axes expects MAX_LINEAR_VELOCITY but most existing configs
use MAX_VELOCITY. This change attempts to use whichever exists as
MAX_LINEAR_VELOCITY


Signed-off-by: andypugh <andy@bodgesoc.org>
This commit is contained in:
andypugh 2016-06-23 01:09:28 +01:00 committed by Sebastian Kuzminsky
parent 30429d703a
commit 3a16c15754
1 changed files with 17 additions and 1 deletions
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18
scripts/update_ini
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@ -205,7 +205,23 @@ if version == "$Revision$" or version < "1.0":
copysection("TASK")
copysection("HAL")
copysection("HALUI")
copysection("TRAJ")
# In JA [TRAJ] expects MAX_LINEAR_VELOCITY not MAX_VELOCITY
all_sections.remove("TRAJ")
section = re.search("\[TRAJ\](.+?)\n\[", inistring, re.DOTALL)
if section: section = section.group(1)
newini.write("[TRAJ]\n")
if section != None:
if not re.search("MAX_LINEAR_VELOCITY", section):
section = re.sub("MAX_VELOCITY", "MAX_LINEAR_VELOCITY", section)
if not re.search("DEFAULT_LINEAR_VELOCITY", section):
section = re.sub("DEFAULT_VELOCITY", "DEFAULT_LINEAR_VELOCITY", section)
if not re.search("MAX_LINEAR_ACCELERATION", section):
section = re.sub("MAX_ACCELERATION", "MAX_LINEAR_ACCELERATION", section)
if not re.search("DEFAULT_ACCELERATION", section):
section = re.sub("DEFAULT_ACCELERATION", "DEFAULT_LINEAR_ACCELERATION", section)
newini.write(section)
copysection("EMCIO")
# Insert the new-fangled [KINS] section