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This commit is contained in:
Max Hunt 2020-02-26 11:04:42 +00:00
parent bf4e100d5f
commit 2e0b1fe0ed
1 changed files with 34 additions and 8 deletions
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42
new_main.py
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@ -211,15 +211,31 @@ def V_Routine():
if x == 'n':exit(0)
left_pnp.gripper_close()
print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition())
print('GRIPPA POSITION+++')
print()
gripper_state = left_pnp.gripperPosition()
if gripper_state < 10:
command = raw_input('\n \n PROBLEM DETECTED!!!\nGripper has nothing in it...\n (C)ontinue, (A)bort, (O)pen gripper\n >_ ')
if command == 'C':
continue
elif command == 'c':
continue
elif command == 'O':
open_and_wait()
elif command == 'o':
open_and_wait()
else:
exit(0)
time.sleep(0.5)
left_pnp.send(ta.V_approach)
def open_and_wait():
left_pnp.gripper_open()
x = raw_input('Close?')
left_pnp.gripper_close()
time.sleep(0.5)
def H_Routine():
if simulation:
@ -232,10 +248,20 @@ def H_Routine():
if x == 'n':exit(0)
left_pnp.gripper_close()
print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition())
print('GRIPPA POSITION+++')
print()
gripper_state = left_pnp.gripperPosition()
if gripper_state < 10:
command = raw_input('\n \n PROBLEM DETECTED!!!\nGripper has nothing in it...\n (C)ontinue, (A)bort, (O)pen gripper\n >_ ')
if command == 'C':
continue
elif command == 'c':
continue
elif command == 'O':
open_and_wait()
elif command == 'o':
open_and_wait()
else:
exit(0)
time.sleep(0.5)
left_pnp.send(ta.H_approach)