remove old plans

src/gohome2.py

@@ -29,7 +29,7 @@ def execute_plan(plan, r1_con, r2_con):
 
 
 if __name__ == '__main__':
-    plan2arms = load_plan('Y')
+    plan2arms = load_plan('r1_test')
 
     r1_con = Controller(robot=1, disable_extruder=True)
     r2_con = Controller(robot=2, disable_extruder=True)

src/main1.py

@@ -24,21 +24,6 @@ robot_num = 1 # 0 or 1
 robot_desc_param = "/r{}/robot_description".format(robot_num+1)
 
 
-class ExtrusionControl:
-    def __init__(self, namespace='/r1'):
-        self.service_name = "{}/ur_hardware_interface/set_io".format(namespace)
-    def on(self):
-        #turn extruder on
-        rospy.wait_for_service(self.service_name)
-        set_io = rospy.ServiceProxy(self.service_name, SetIO)
-        set_io(1,0,0)
-    def off(self):
-        # turn extruder off
-        rospy.wait_for_service(self.service_name)
-        set_io = rospy.ServiceProxy(self.service_name, SetIO)
-        set_io(1,0,1)
-
-
 def execute_plan(plan,
         controller,
         extrude=False,
@@ -62,10 +47,6 @@ def execute_plan(plan,
     for t in plan.trajs[arm]:
         calibration_correction(t, robot_desc_param)
 
-    # create etruder control
-    if extrude:
-        extruder = ExtrusionControl("/r{}".format(arm+1))
-
     # execute trajectories in plan
     sleep_for = 0
     for i, t in enumerate(plan.trajs[arm]):
@@ -81,13 +62,10 @@ def execute_plan(plan,
 
         if confirm:
             a = raw_input('Press enter to continue')
-            if a == 'n':
+            if a == 'q':
                 break
         else:
             time.sleep(sleep_for)
-            # turn extrusion off if it was on
-            if extrude:
-                extruder.off()
 
         print("Printing {}th trajectory in the plan, which is contour {}".format(i, t.contour))
 
@@ -101,9 +79,6 @@ def execute_plan(plan,
 
         sleep_for = traj2send.time[-1] - retry_time
 
-        if extrude and t.contour is not None: # extrude until end of contour
-            extruder.on()
-
         if retries == max_traj_retries:
             print("\nFailed after {} retries, quitting".format(max_traj_retries))
             sys.exit(0)
@@ -115,10 +90,10 @@ def gohome(arm):
 
 
 if __name__ == '__main__':
-    plan = load_plan('r2_sq')
+    plan = load_plan('r2_test')
 
     # Test calibration
     con = Controller(robot=robot_num+1, disable_extruder=True) # one arm when both arms running
     #con = Controller(disable_extruder=True)         # any when one arm  running
 
-    execute_plan(plan, con, confirm=False, arm=robot_num, extrude=False)
+    execute_plan(plan, con, confirm=True, arm=robot_num, extrude=False)