From df4e778de7f20809d4ac9032b3144016b217dc34 Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 12:09:40 -0400
Subject: [PATCH] debug
---
.../assembly/python-urx/ur10test.py | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
index e08759a..854acc9 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -175,11 +175,18 @@ for edge in setup["edges"]:
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
else:
print("rotated")
+ v = globalSetup["v"]
+ a = globalSetup["a"]
#move siegfried (struts) to S4, then to build level 0.5, from reference location
#uses movej for the rotation and to get close to the build plate, to avoid sketchiness
siegfried.movej(strut90_siegfried_j, acc = a, vel = v)
siegfried_trans = siegfried.get_pose()
- siegfried_trans.pos.x -= latticePitch["y"]*(edge["y"]-0.5)
+ time.sleep(sleepTime)
+
+ v = globalSetup["v1"]
+ a = globalSetup["a1"]
+
+ siegfried_trans.pos.y += latticePitch["y"]*(edge["y"])
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
--
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