add gcode and plans for first demo print...

add gcode and plans for first demo print (twins-planner#69)

src/Controller.py

@@ -161,6 +161,7 @@ class Controller(object):
         self.retractionTime_s = retractionDist_mm/retractionSpeed_mmpmin * 60.0
         self.extruderReady = False
         self.traj_complete = True
+        self.disable_extruder = disable_extruder
 
         # Start extruder
         if not disable_extruder:
@@ -202,7 +203,7 @@ class Controller(object):
             print("Last Traj incomplete, please retry")
             return False
 
-        if contour is not None:
+        if contour is not None and not self.disable_extruder:
             print("THIS NEXT TRAJ REQUIRES EXTRUSION")
             self.preprint_load()
             self.extrude(contour.Ext[-1], jtraj.time[-1])
@@ -220,7 +221,7 @@ class Controller(object):
                     break
             self.traj_complete = False
 
-        if contour is not None:
+        if contour is not None and not self.disable_extruder:
             self.postprint_retract()
 
         return True
@@ -390,7 +391,7 @@ def getR_ET():
 
 
 if __name__=='__main__':
-    con = Controller()
+    con = Controller(robot=1)
 
 # TODO: Add confirmation checks
 # display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',

src/KeyboardController.py

@@ -664,8 +664,8 @@ class KeyboardController(Controller):
 if __name__=="__main__":
     #con = KeyboardController(disableExtruder=True)
     #con = KeyboardController()
-    con1 = KeyboardController(robot=1)
-    con2 = KeyboardController(robot=2, disableExtruder=True)
+    con1 = KeyboardController(robot=1) #, disableExtruder=True
+    con2 = KeyboardController(robot=2)
 
     print('Collecting configrations...')
     #configuations = con.prompt_configurations()

src/main2.py

@@ -116,9 +116,9 @@ def execute_plan(plan,
 
 
 if __name__ == '__main__':
-    plan2arms, octo_contours = load_plan('octox2', contours=True)
+    #plan2arms, contours = load_plan('octox2', contours=True)
+    plan2arms, contours = load_plan('flatraptor_l1', contours=True)
 
-    r1_con = Controller(robot=1)
-    r2_con = Controller(robot=2)
-
-    execute_plan(plan2arms, r1_con, r2_con, move_speed=0.25, contours=octo_contours)
+    r1_con = Controller(robot=1)#, disable_extruder=True)
+    r2_con = Controller(robot=2)#, disable_extruder=True)
+    execute_plan(plan2arms, r1_con, r2_con, move_speed=0.33, contours=contours)