printing multiple contours with timing issue (#10)

src/Controller.py

@@ -145,9 +145,7 @@ class Controller(object):
 
         if contour is not None:
             print("THIS NEXT TRAJ REQUIRES EXTRUSION")
-            pre_extrude_time = 0.2
-            self.extrude(10, pre_extrude_time) # extrude 10mm in 0.2s to get started
-            time.sleep(pre_extrude_time)
+            self.preprint_load()
             self.extrude(contour.Ext[-1], jtraj.time[-1])
 
         rospy.loginfo('Sending trajectory to UR5e')
@@ -164,7 +162,7 @@ class Controller(object):
             self.traj_complete = False
 
         if contour is not None:
-            self.extrude(-10, 0.2)
+            self.postprint_retract()
 
         return True
 
@@ -277,10 +275,12 @@ class Controller(object):
 
     def postprint_retract(self):
         self.extrude(-self.retractionDist_mm,self.retractionTime_s)
+        time.sleep(self.retractionTime_s)
 
 
     def preprint_load(self):
         self.extrude(self.retractionDist_mm,self.retractionTime_s)
+        time.sleep(self.retractionTime_s)
 
 
     def printFilament(self,ext_mm,t_s):

src/main.py

@@ -36,6 +36,8 @@ def execute_plan(plan, controller, contours=None, confirm=False):
 
         if confirm:
             a = raw_input('Press enter to continue')
+            if a== 'n':
+                break
 
         if t.contour is not None:
             controller.exec_ctraj(speed_multiplier(t, 5), contour=contours[t.contour])
@@ -51,7 +53,7 @@ if __name__ == '__main__':
 
     # Printing
     con = Controller()
-    execute_plan(plan2, con, contours=flexirex_contours)
+    execute_plan(plan2, con, contours=flexirex_contours, confirm=True)
 
     # no printing
     #con = Controller(disable_extruder=True)