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bigprint
twins-controller
Commits
c26561a1
Commit
c26561a1
authored
Jan 28, 2021
by
Jayant Khatkar
Browse files
add timing test, fix timing wait logic (
#5
)
parent
42fa6bb8
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/main2.py
View file @
c26561a1
...
...
@@ -72,7 +72,7 @@ def execute_plan(plan,
# wait till it's time to execute the next trajectory
rel_delay_arm
=
max
(
0
,
-
relative_delay
*
(
-
1
)
**
arm
)
sleep_time
=
next_time
-
(
time
.
time
()
-
s
)
+
rel_delay_arm
sleep_time
=
next_time
-
(
time
.
time
()
-
s
)
+
rel_delay_arm
+
delays
[
arm
]
if
sleep_time
>
0
:
print
(
"Sleeping for {}s until time for next traj"
.
format
(
sleep_time
))
...
...
@@ -115,7 +115,7 @@ def execute_plan(plan,
if
__name__
==
'__main__'
:
plan2arms
=
load_plan
(
'two_arm_test
2
'
)
plan2arms
=
load_plan
(
'two_arm_
timing_
test'
)
r1_con
=
Controller
(
disable_extruder
=
True
,
robot
=
1
)
r2_con
=
Controller
(
disable_extruder
=
True
,
robot
=
2
)
...
...
src/plans/two_arm_timing_test.plan
0 → 100644
View file @
c26561a1
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