Commit e9f3efd5 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

run calibrated plan on real hardware without extrusion (#12)

parent 2a91e4aa
...@@ -592,7 +592,7 @@ class KeyboardController(Controller): ...@@ -592,7 +592,7 @@ class KeyboardController(Controller):
if __name__=="__main__": if __name__=="__main__":
con = KeyboardController() con = KeyboardController(disableExtruder=True)
print('Collecting configrations...') print('Collecting configrations...')
configuations = con.prompt_configurations() configuations = con.prompt_configurations()
......
import numpy as np import numpy as np
import pickle import pickle
import time import time
import copy
import sys import sys
# ROS Libraries # ROS Libraries
...@@ -34,6 +35,7 @@ def execute_plan(plan, controller): ...@@ -34,6 +35,7 @@ def execute_plan(plan, controller):
# execute trajectories in plan # execute trajectories in plan
for t in plan.trajs[0]: for t in plan.trajs[0]:
print(t.time)
jt = JTraj2ROS(t) jt = JTraj2ROS(t)
try: try:
controller.exec_traj(jt) controller.exec_traj(jt)
...@@ -44,6 +46,12 @@ def execute_plan(plan, controller): ...@@ -44,6 +46,12 @@ def execute_plan(plan, controller):
if __name__ == '__main__': if __name__ == '__main__':
plan = load_plan('plans/3.plan') plan = load_plan('plans/2.plan')
con = Controller(simulation=True) con = Controller(disable_extruder=True)
execute_plan(plan, con) execute_plan(plan, con)
# go to origin and stay (to check calibration)
#plan1 = load_plan('plans/1.plan')
#plan2 = copy.deepcopy(plan1)
#plan2.trajs[0].pop()
#execute_plan(plan2, con)
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