# HG changeset patch # User Trammell Hudson # Date 1376678680 14400 # Node ID bbc244de9a187d3505151253c210d7b3c0edbeb6 # Parent 1fbf23758c51ed37d0899feb077b818c0f1a5ffe Try to reduce run aways by making smaller steps diff --git a/Puma.py b/Puma.py --- a/Puma.py +++ b/Puma.py @@ -84,7 +84,9 @@ 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) @@ -110,8 +112,8 @@ 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 @@ -220,7 +222,7 @@ 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]