Commit 83627ec2 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

create plan for first print, change home position...

create plan for first print, change home position (twins-controller#19)
parent 6319751b
......@@ -511,7 +511,7 @@ def decmcts(contour_tracker,
if __name__ == "__main__":
# Read gcode file
model = "flexirex_big"
model = "CuteOcto_x2"
tracker = tu.get_tracker(model)
# 3arms simulation
......@@ -523,14 +523,13 @@ if __name__ == "__main__":
# 2arms real calibration
env_desc2 = tu.read_env('calibrations/r1_tforms.yaml',
'calibrations/r2_tforms.yaml')
env = tu.SimEnv(env_desc=env_desc3, gui=False, home=home)
env = tu.SimEnv(env_desc=env_desc2, gui=True, home=home)
# decmcts plan first n contours
c_traj_file = "gcode/" + model + ".c_traj"
cs, plan = decmcts(tracker,
env,
n_layers=2,
mcts_nodes=1000
mcts_nodes=200
)
visualiseCombinedSchedule(cs)
plan.visualise()
This diff is collapsed.
......@@ -13,7 +13,7 @@ import pickle
import copy
home = [-pi/2, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
def plan(points, env, gui=False):
......
......@@ -7,7 +7,7 @@ import warnings
import pickle
home = [-pi/2, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
......@@ -151,7 +151,7 @@ def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
if __name__ == "__main__":
# Read gcode file
model = "flexirex_big"
model = "CuteOcto_x2"
tracker = tu.get_tracker(model)
# 3arms simulation
......@@ -165,4 +165,4 @@ if __name__ == "__main__":
'calibrations/r2_tforms.yaml')
# Greedily plan first n contours
plan = greedy(tracker, env_desc3, n_contours=10, gui=True)
plan = greedy(tracker, env_desc2, n_contours=10, gui=True)
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