Commit e6261aba authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

add interface and debugging tools (#17)

parent e53a5160
......@@ -18,7 +18,14 @@ from Controller import Controller
import gcode2contour as gc
def execute_plan(plan, controller, contours=None, confirm=False, skip_first=1):
def execute_plan(plan,
controller,
contours=None,
confirm=False,
skip_first=1,
contour_speed=0.2,
move_speed=1,
first_n=None):
"""
Executes a plan on MoveIt
......@@ -31,6 +38,10 @@ def execute_plan(plan, controller, contours=None, confirm=False, skip_first=1):
# execute trajectories in plan
for i, t in enumerate(plan.trajs[0]):
if i == first_n:
print("Finishing prematurely, completed {} trajectories".format(i))
break
if i < skip_first:
print("skipping traj {}".format(i))
continue
......@@ -40,12 +51,13 @@ def execute_plan(plan, controller, contours=None, confirm=False, skip_first=1):
if a== 'n':
break
if t.contour is not None:
if t.contour is not None and contours is not None:
print("Printing {}th trajectory in the plan, which is contour {}".format(i, t.contour))
controller.exec_ctraj(speed_multiplier(t, 5), contour=contours[t.contour])
controller.exec_ctraj(speed_multiplier(t, 1/contour_speed), contour=contours[t.contour])
else:
print("Moving arm, no extrusion")
controller.exec_ctraj(t)
print("Printing {}th trajectory in the plan, which is contour {}".format(i, t.contour))
print("Moving arm without extrusion")
controller.exec_ctraj(speed_multiplier(t, 1/move_speed))
return
......@@ -55,12 +67,12 @@ if __name__ == '__main__':
plan2, flexirex_contours = load_plan('flexirex', contours=True)
# Printing
con = Controller()
execute_plan(plan2, con, contours=flexirex_contours, confirm=True)
#con = Controller()
#execute_plan(plan2, con, contours=flexirex_contours, confirm=True)
# no printing
#con = Controller(disable_extruder=True)
#execute_plan(calibration_test, con, confirm=True)
con = Controller(disable_extruder=True)
execute_plan(plan2, con, confirm=False, move_speed=5)
# go to origin and stay (to check calibration)
#plan05 = copy.deepcopy(plan1)
......
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