#!/usr/bin/env python

import pyedo
import pyedo.edo

#EXAMPLE of Program with CARTESIAN EXTENDED MOVE
def prog_cartesianX(edo,ovr=50):
    myedo = edo
    myedo.move_joint(ovr,0,45,45,0,90,0,0)
    myedo.move_cartesianX(ovr, 400, 0, 250, 0, 180, 0, 0)
    myedo.move_cartesianX(ovr, 400, -100, 180, 0, 180, 0,0)
    myedo.move_cartesianX(ovr, 400, -100, 120, 0, 180, 0,40)
    myedo.move_cartesianX(ovr, 400, -100, 180, 0, 180, 0,0)
    myedo.move_cartesianX(ovr, 400, 200, 180, 0, 180, 0,0)
    myedo.move_cartesianX(ovr, 400, 200, 120, 0, 180, 0,40)
    myedo.move_cartesianX(ovr, 400, 200, 180, 0, 180, 0,0)
    myedo.move_cartesianX(ovr, 400, -200, 180, 0, 180, 0,0)
    myedo.move_cartesianX(ovr, 400, -100, 180, 0, 180, 0,40)
    myedo.move_cartesianX(ovr, 400, -100, 120, 0, 180, 0,0)

if __name__ == 'move_cartesianX':
    move_cartesianX(edo)