Commit 76e31e62 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

add gcode and plans for first demo print...

add gcode and plans for first demo print (twins-planner#69)
parent a4f55661
......@@ -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',
......
......@@ -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()
......
......@@ -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)
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