Trammell Hudson avatar Trammell Hudson committed 0487a09

Adjust speed and tool angle

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Files changed (1)

 	usleep(100000);
 	controller_send(controller, "^CLERD 2 0\r\n");
 	usleep(100000);
+	controller_send(controller, "!s 1 4000\r\n");
+	usleep(50000);
+	controller_send(controller, "!s 2 4000\r\n");
+	usleep(50000);
+	controller_send(controller, "!ac 1 50000\r\n");
+	usleep(50000);
+	controller_send(controller, "!dc 1 50000\r\n");
+	usleep(50000);
+	controller_send(controller, "!ac 2 50000\r\n");
+	usleep(50000);
+	controller_send(controller, "!dc 2 50000\r\n");
+	usleep(50000);
 	controller_send(controller, "# C\r\n");
 	usleep(100000);
 	controller_send(controller, "?C\r\n");
 
 	// Adjust xyz by the desired wrist orientation
 	// to determine the position of the spherical joint
-	double a[] = { 0, 0, -1 };
-	double s[] = { 1, 0, 0 };
+	double a[] = { -1, 0, 0 };
+	double s[] = { 0, 0, -1 };
 	double n[] = { 0, 1, 0 };
 
 
 
 		if (strcmp(cmd, "l") == 0)
 		{
-			robot_linear(robot, x, y, z, 100, 50000);
+			robot_linear(robot, x, y, z, 20, 50000);
 			continue;
 		}
 
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