Sensors

---

• Synchronous methods
• Exceptions

1. Overview

This controller allows reading most of the Robot’s sensors.

UR Robots have two types of sensors, according to the kind of data they output:

• Continuous sensors: Read variable is a continuous decimal value.

• Boolean sensors: Read variable is a binary state.

2. Using the Controller

Creating the controller in your app:

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
   async def setup(self):
      ...
      self.sensors = await self.enable_controller('sensors')
      ...

The controller class includes a set of methods to synchronously access the sensors:

• get_all_sensors_value().

• get_sensors_list().

• get_sensor_value().

• check_sensor_in_range()

It also includes the following methods to create listeners that trigger when different events are detected:

• create_threshold_listener()

• create_boolean_listener()

Each method page includes standalone examples of how to use them.

3. Full examples

The following full examples use this controller:

• sensors_chest_button_listener

• sensors_listener

• sensors_list

• sensors_print