From 26cf31f29f61823587624666a82cf93f72c1f2b6 Mon Sep 17 00:00:00 2001 From: Max Date: Tue, 21 Sep 2021 15:52:55 +0100 Subject: [PATCH] Update --- Control/Jetson/main.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/Control/Jetson/main.py b/Control/Jetson/main.py index 61b55fd..5806427 100755 --- a/Control/Jetson/main.py +++ b/Control/Jetson/main.py @@ -31,7 +31,7 @@ DO_FORK_ALIGN = True DO_PICKUP_CARGO = True DO_REVERSE_TURN = False DO_GPS_RETURN = False -DO_DROPOFF_CARGO = False +DO_DROPOFF_CARGO = True DO_RETURN_TO_NEUTRAL = False DO_LOOP = True @@ -111,13 +111,6 @@ def __put_down_cargo(vehicle_ctrl): return True -def __put_cargo_down_and_reverse_turn(vehicle_ctrl): - executor_logger.info(f"Dropping cargo") - __put_down_cargo(vehicle_ctrl) - __reverse_turn(vehicle_ctrl) - return True - - def __reverse_turn(vehicle_ctrl): executor_logger.info(f"performing reverse turn") vehicle_ctrl.nudge_drive(False, 5, 2000) @@ -233,7 +226,7 @@ def queue_executor_thread(): if DO_DROPOFF_CARGO: FORKLIFT.set_state("MANIPULATING_CARGO") - cargo_down_success = __put_cargo_down_and_reverse_turn(FORKLIFT) + cargo_down_success = __put_down_cargo(FORKLIFT) if not cargo_down_success: executor_logger.critical("Problem with cargo put down, check logs !") FORKLIFT.set_state("OTHER_ERROR") @@ -241,7 +234,14 @@ def queue_executor_thread(): else: executor_logger.warning("DO_DROPOFF_CARGO flag is false, skipping dropping off cargo") - + if DO_REVERSE_TURN: + reverse_turn = reverse_turn(FORKLIFT) + if not reverse_turn: + executor_logger.critical("Problem with reverse turn, check logs !") + FORKLIFT.set_state("OTHER_ERROR") + return False + else: + executor_logger.warning("DO_REVERSE_TURN flag is false, skipping reverse turn") if current_job['on_finish']['goto'] == True: if DO_RETURN_TO_NEUTRAL: