Commits

Anonymous committed bbc244d

Try to reduce run aways by making smaller steps

Comments (0)

Files changed (1)

 		self.moveto(6, cur + 18000, 1000)
 		time.sleep(0.5)
 
-		self.moveto(6, cur + 10000, speed)
+		self.moveto(6, cur + 12000, speed)
+		time.sleep(0.125)
+		self.moveto(6, cur + 6000, speed)
 		time.sleep(0.125)
 		self.moveto(6, cur, speed)
 		time.sleep(0.125)
 
 		print "counts:  ", [int(x) for x in self.counts]
 		print "command: ", [int(x) for x in counts]
-		print "current: ", [int(x* 180/pi) for x in self.fk.theta]
-		print "desired: ", [int(x* 180/pi) for x in self.ik.theta]
+		print "current: ", [round(x* 180/pi, 1) for x in self.fk.theta]
+		print "desired: ", [round(x* 180/pi, 1) for x in self.ik.theta]
 
 	# Move linearly to an IK computed position at mm/s speed
 	# This will hold the current tool configuration
 			print r.counts
 			continue
 		if line == "a":
-			print [int(x * 180 / pi) for x in r.fk.theta]
+			print [round(x * 180 / pi, 1) for x in r.fk.theta]
 			continue
 		if line == "p":
 			print [int(x) for x in r.fk.p], [round(x,2) for x in r.fk.a], [round(x,2) for x in r.fk.s], [round(x,2) for x in r.fk.n]
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