controlling extrusion and movement simultaneously, need to get extrusion...

controlling extrusion and movement simultaneously, need to get extrusion length from contour data, significant delay between commmand and control (#10)

src/Controller.py

@@ -147,13 +147,9 @@ class Controller(object):
         self.traj_complete = False
         self.group.execute(plan, wait=False)
 
-        #if jtraj.contour is not None:
-        #    print("---")
-        #    print("THIS NEXT TRAJ REQUIRES EXTRUSION")
-        #    print(jtraj.contour.Ext)
-        #    print(jtraj.contour.time)
-        #    print("---")
-            #self.extrude()
+        if jtraj.contour is not None:
+            print("THIS NEXT TRAJ REQUIRES EXTRUSION")
+            self.extrude(20, jtraj.time[-1])
 
 
         if wait:
@@ -322,8 +318,8 @@ class Controller(object):
         if len(msg.status_list)>0:
             self.traj_complete = (msg.status_list[-1].status==3 or
                 msg.status_list[-1].status==2)
-            if self.traj_complete:
-                print("Trajectory Execution Completed")
+#            if self.traj_complete:
+#                print("Trajectory Execution Completed")
 
 
 def getR_ET():

src/main.py

@@ -12,16 +12,10 @@ from trajectory_msgs.msg import (
     JointTrajectory
 )
 
-# MOVEit
-#import moveit_commander
-#from moveit_msgs.msg._RobotTrajectory import RobotTrajectory
-
 ## Our libraries
 from utils import load_plan, JTraj2ROS
 from Controller import Controller
-#import gcode2contour as gc
-#from extrudex.msg._ExtruderControl import ExtruderControl
-#from extrudex.srv._Hotend import Hotend
+import gcode2contour as gc
 
 
 def execute_plan(plan, controller):
@@ -46,6 +40,7 @@ def execute_plan(plan, controller):
 if __name__ == '__main__':
     plan1 = load_plan('plans/1.plan')
     plan2 = load_plan('plans/2.plan')
+    #con = Controller()
     con = Controller(disable_extruder=True)
     execute_plan(plan2, con)