Fixes the incorrect ui mode equality check

micah-huth · micah-huth · commit 056251ae43db · 2021-03-29T09:57:49.000+10:00
diff --git a/roboticstoolbox/backends/VPython/VPython.py b/roboticstoolbox/backends/VPython/VPython.py
@@ -19,7 +19,7 @@
 close_localhost_session = None
 
 try:
-    from roboticstoolbox.backends.VPython.canvas import GraphicsCanvas2D, GraphicsCanvas3D
+    from roboticstoolbox.backends.VPython.canvas import GraphicsCanvas2D, GraphicsCanvas3D, UImode
     from roboticstoolbox.backends.VPython.graphicalrobot import GraphicalRobot
     from roboticstoolbox.backends.VPython.grid import GridType
 except ImportError:
@@ -173,7 +173,7 @@ def step(self, dt=None, id=None, q=None, fig_num=0):
             if self.canvases[fig_num].is_robot_in(id):
                 poses = id.fkine(q)
                 id.set_joint_poses(poses)
-                if self.canvases[fig_num].current_mode == 2:
+                if self.canvases[fig_num].current_mode == UImode.TEACHPANEL:
                     # Reload the joint sliders
                     self.canvases[fig_num].teach_mode()
 
@@ -204,7 +204,7 @@ def step(self, dt=None, id=None, q=None, fig_num=0):
             # Set poses of graphical robot
             poses = graphical_dh_robot.fkine(q)
             graphical_dh_robot.set_joint_poses(poses)
-            if self.canvases[fig_num].current_mode == 2:
+            if self.canvases[fig_num].current_mode == UImode.TEACHPANEL:
                 # Reload the joint sliders
                 self.canvases[fig_num].teach_mode()
 
