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Trammell Hudson committed 2abaa2e

a/s/n fixed; ik works again!

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  • Parent commits 0f6ce87

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 		else:
 			self.above = -1
 
-	def ik(self, xyz, n, s, a):
+	def ik(self, xyz, a, s, n):
 		# Back project the position of the spherical ball joint
 		# by the final dimension of the tool aligned along the
 		# approach angle.
 		print "new xyz: " + str(new_xyz)
 
 		self.major(new_xyz)
-		self.wrist(n, s, a)
+		self.wrist(a, s, n)
 
 	# Compute the major axis commands to position the spherical
 	# joint at position XYZ, updating the first three elements of
 	a = [-1, 0, 0]
 	s = [0, -1, 0]
 	n = [0, 0, 1]
-	r.ik(pos, n, s, a)
+	r.ik(pos, a, s, n)
 	print " ".join([str(int(x*180/pi)) for x in r.theta])
 	print " ".join([str(x) for x in r.get_counts()])
+	print "go,10000," + ",".join([str(x) for x in r.get_counts()])