extruding at the same time, there is a significnat delay (slightly less than...

extruding at the same time, there is a significnat delay (slightly less than the 5s in code) with extrusion), calibration must be done again (too far above the print bed (#10)

src/Controller.py

@@ -133,7 +133,7 @@ class Controller(object):
         return t
 
 
-    def exec_ctraj(self,jtraj, wait=True):
+    def exec_ctraj(self,jtraj, wait=True, contour=None):
         """
         Using the
         jtraj: JTrajectory object to execute
@@ -143,15 +143,17 @@ class Controller(object):
         plan.joint_trajectory = JTraj2ROS(jtraj)
 #        plan.joint_trajectory.points = plan.joint_trajectory.points[1:]
 
+        if contour is not None:
+            print("THIS NEXT TRAJ REQUIRES EXTRUSION")
+            self.extrude(2, 2) # extrude 2mm in 2s to get started
+            time.sleep(7)
+            self.extrude(contour.Ext[-1], jtraj.time[-1])
+            time.sleep(5)
+
         rospy.loginfo('Sending trajectory to UR5e')
         self.traj_complete = False
         self.group.execute(plan, wait=False)
 
-        if jtraj.contour is not None:
-            print("THIS NEXT TRAJ REQUIRES EXTRUSION")
-            self.extrude(20, jtraj.time[-1])
-
-
         if wait:
             s = time.time()
             t = jtraj.time[-1]

src/main.py

@@ -18,7 +18,7 @@ from Controller import Controller
 import gcode2contour as gc
 
 
-def execute_plan(plan, controller):
+def execute_plan(plan, controller, contours=None):
     """
     Executes a plan on MoveIt
 
@@ -33,16 +33,19 @@ def execute_plan(plan, controller):
         if i==1:
             print("skipping first traj")
             continue
-        controller.exec_ctraj(t)
+        if t.contour is not None:
+            controller.exec_ctraj(t, contour=contours[t.contour])
+        else:
+            controller.exec_ctraj(t)
     return
 
 
 if __name__ == '__main__':
     plan1 = load_plan('origin')
-    plan2, flexi_contours = load_plan('flexirex', contours=True)
-    #con = Controller()
-    con = Controller(disable_extruder=True)
-    execute_plan(plan2, con)
+    plan2, flexirex_contours = load_plan('flexirex', contours=True)
+    con = Controller()
+    #con = Controller(disable_extruder=True)
+    execute_plan(plan2, con, contours=flexirex_contours)
 
     # go to origin and stay (to check calibration)
     #plan05 = copy.deepcopy(plan1)