Commit 1c62dace authored by Jayant Khatkar's avatar Jayant Khatkar

test calibration, update main1 to safer execution as implemented in main2 (#19)

parent f9cb4bf9
......@@ -25,7 +25,9 @@ def execute_plan(plan,
skip_first=1,
contour_speed=0.2,
move_speed=1,
n_trajs=None):
n_trajs=100,
retry_time=0.1,
max_traj_retries=20):
"""
Executes a plan on MoveIt
......@@ -54,28 +56,43 @@ def execute_plan(plan,
print("Printing {}th trajectory in the plan, which is contour {}".format(i, t.contour))
# Extruding with trajectory
retries = 0
if t.contour is not None and contours is not None:
while not controller.exec_ctraj(speed_multiplier(t, 1/contour_speed), contour=contours[t.contour]):
pass
traj2send = speed_multiplier(t, 1/contour_speed)
while not controller.exec_ctraj(
traj2send,
contour=contours[t.contour],
wait=False) and retries < max_traj_retries:
retries += 1
time.sleep(retry_time)
# Movement only
else:
#print("Moving arm without extrusion")
while not controller.exec_ctraj(speed_multiplier(t, 1/move_speed)):
pass
traj2send = speed_multiplier(t, 1/move_speed)
while not controller.exec_ctraj(traj2send, wait=False) \
and retries < max_traj_retries:
retries += 1
time.sleep(retry_time)
if retries == max_traj_retries:
print("\nFailed after {} retries, quitting".format(max_traj_retries))
sys.exit(0)
return
if __name__ == '__main__':
plan1 = load_plan('origin')
calibration_test = load_plan('cal_test')
calibration_test = load_plan('r1_cal_test')
plan2, flexirex_contours = load_plan('flexirex', contours=True)
# Printing
con = Controller()
execute_plan(plan2, con, contours=flexirex_contours, confirm=True, n_trajs=10)
#con = Controller()
#execute_plan(plan2, con, contours=flexirex_contours, confirm=True, n_trajs=10)
# no printing
#con = Controller(disable_extruder=True)
#execute_plan(plan2, con, confirm=False, n_trajs=200, move_speed=1)
# Test calibration
con = Controller(disable_extruder=True)
execute_plan(calibration_test, con, confirm=True)
# go to origin and stay (to check calibration)
#plan05 = copy.deepcopy(plan1)
......
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