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This commit is contained in:
Max 2021-09-21 17:40:43 +01:00
parent c8f2236314
commit 18ccc433ca
1 changed files with 2 additions and 7 deletions
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9
Control/Jetson/main.py
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@ -93,11 +93,6 @@ def __align_forks_with_holes(hole_alignment_system):
success = hole_alignment_system.align_fork() success = hole_alignment_system.align_fork()
return success return success
def reverse_turn(vehicle_ctrl):
executor_logger.info(f"Picking up cargo")
__reverse_turn(vehicle_ctrl)
return True
def __pick_up_cargo(vehicle_ctrl): def __pick_up_cargo(vehicle_ctrl):
vehicle_ctrl.approach_pallet() vehicle_ctrl.approach_pallet()
time.sleep(1) time.sleep(1)
@ -204,8 +199,8 @@ def queue_executor_thread():
executor_logger.warning("DO_PICKUP_CARGO flag is false, skipping cargo pickup") executor_logger.warning("DO_PICKUP_CARGO flag is false, skipping cargo pickup")
if DO_REVERSE_TURN: if DO_REVERSE_TURN:
reverse_turn = reverse_turn(FORKLIFT) reverse_turn_success = __reverse_turn(FORKLIFT)
if not reverse_turn: if not reverse_turn_success:
executor_logger.critical("Problem with reverse turn, check logs !") executor_logger.critical("Problem with reverse turn, check logs !")
FORKLIFT.set_state("OTHER_ERROR") FORKLIFT.set_state("OTHER_ERROR")
return False return False