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This commit is contained in:
Max 2021-09-21 14:33:08 +01:00
parent ad172c2a7d
commit b0a74fc585
1 changed files with 7 additions and 3 deletions
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10
Control/Jetson/main.py
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@ -23,6 +23,7 @@ from pallet_hole_alignment_c import HoleAligner
# time.sleep(5) # time.sleep(5)
# subprocess.run(["route", "-n"]) # subprocess.run(["route", "-n"])
DO_ZERO = False
DO_GPS_THERE = False DO_GPS_THERE = False
DO_VISION_APPROACH = True DO_VISION_APPROACH = True
DO_FORK_ALIGN = True DO_FORK_ALIGN = True
@ -139,9 +140,12 @@ 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()
executor_logger.info("Zeroing fork...") if DO_ZERO:
FORKLIFT.zero_fork_vert_movement() executor_logger.info("Zeroing fork...")
FORKLIFT.zero_fork_horiz() 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.")