Commit 768b21c3 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

minor updates to readme

parent 99ad2830
...@@ -4,8 +4,8 @@ Software for planning the motion of the twin printers robot. ...@@ -4,8 +4,8 @@ Software for planning the motion of the twin printers robot.
The twins are 2 UR5e arms which 3D print in a shared workspace. The twins are 2 UR5e arms which 3D print in a shared workspace.
Given a valid gcode file, it constructs a collision free plan for two arms Given a valid gcode file, this repo constructs a collision free plan for two arms
to print the object as concurrenlty as possible. to print the object maximising concurrency.
## Building/Installing ## Building/Installing
...@@ -31,16 +31,14 @@ pip install . ...@@ -31,16 +31,14 @@ pip install .
Create the plan, and enter an interactive shell for viewing it: Create the plan, and enter an interactive shell for viewing it:
```bash ```bash
cd src # repo root dir cd src # from repo root
ipython -i greedy.py # quicker plan ipython -i greedy.py # quicker plan
# OR
ipython -i decmcts.py # working on it
``` ```
To inspect the plan in the interactive shell: To inspect the plan in the interactive shell:
```python ```python
# watch the plan created, sped up to complete in 30s # watch the plan created, sped up to complete in 30s
plan.watch(30) #use plan.watch(10,0.5,1) to only watch the last half of the plan plan.watch(30) #use plan.watch(10,0.5,1) to only watch the last half of the plan in 10 seconds
# plot showing when each arm is printing, when waiting/travelling # plot showing when each arm is printing, when waiting/travelling
plan.visualise() plan.visualise()
......
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