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Max 2021-09-21 15:43:18 +01:00
parent 680b83851e
commit 749c8ed73d
1 changed files with 8 additions and 6 deletions
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14
Control/Jetson/main.py
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@ -55,6 +55,7 @@ executor_logger.setLevel(logging.DEBUG)
#--- <Pseudoprivate methods #--- <Pseudoprivate methods
def __go_to_gps_waypoints(vehicle_ctrl, waypoints: list): def __go_to_gps_waypoints(vehicle_ctrl, waypoints: list):
if len(waypoints) > 0: if len(waypoints) > 0:
for ix, waypoint in enumerate(waypoints): for ix, waypoint in enumerate(waypoints):
@ -141,12 +142,6 @@ def queue_executor_thread():
HOLE_ALIGNMENT_SYSTEM = HoleAligner(FORKLIFT) HOLE_ALIGNMENT_SYSTEM = HoleAligner(FORKLIFT)
executor_logger.info("ARMING VEHICLE...") executor_logger.info("ARMING VEHICLE...")
FORKLIFT.set_arm() FORKLIFT.set_arm()
if DO_ZERO:
executor_logger.info("Zeroing fork...")
FORKLIFT.zero_fork_vert_movement()
FORKLIFT.zero_fork_horiz()
else:
executor_logger.warning("DO_ZERO flag is false, skipping zeroing")
FORKLIFT.set_state("READY_FOR_NEXT_TASK") FORKLIFT.set_state("READY_FOR_NEXT_TASK")
executor_logger.info("Ready.") executor_logger.info("Ready.")
@ -156,6 +151,13 @@ def queue_executor_thread():
executor_logger.info(f"Executing new job: {current_job}") executor_logger.info(f"Executing new job: {current_job}")
#execute job..... #execute job.....
if DO_ZERO:
executor_logger.info("Zeroing fork...")
FORKLIFT.zero_fork_vert_movement()
FORKLIFT.zero_fork_horiz()
else:
executor_logger.warning("DO_ZERO flag is false, skipping zeroing")
if DO_GPS_THERE: if DO_GPS_THERE:
FORKLIFT.set_state("NAVIGATING_TO_POINT_GPS") FORKLIFT.set_state("NAVIGATING_TO_POINT_GPS")
gps_navigation_succcess = __go_to_gps_waypoints(FORKLIFT, current_job['pickup_waypoints']) gps_navigation_succcess = __go_to_gps_waypoints(FORKLIFT, current_job['pickup_waypoints'])