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This commit is contained in:
Max Hunt 2020-03-09 18:24:30 +00:00
parent bd757ce965
commit 7ffdec977c
1 changed files with 7 additions and 4 deletions
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11
new_main.py
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@ -239,18 +239,21 @@ def H_Routine(limb):
def process(limb, step): def process(limb, step):
print('Picking up brick ', step['step'], '...') print('Picking up brick ', step['step'], '...')
if step['vertical'] == True:
V_Routine(limb) if step['vertical'] == True: V_Routine(limb)
else: else: H_Routine(limb)
H_Routine(limb)
print('Moving brick ', step['step'], ' to hover position...') print('Moving brick ', step['step'], ' to hover position...')
limb.goto(step['hover']) limb.goto(step['hover'])
if debug:x = raw_input('Place?: ') if debug:x = raw_input('Place?: ')
print('Placing brick ', step['step'], '...') print('Placing brick ', step['step'], '...')
limb.goto(step['place']) limb.goto(step['place'])
if debug:x = raw_input('Open gripper?: ') if debug:x = raw_input('Open gripper?: ')
print('Opening gripper...') print('Opening gripper...')
time.sleep(0.5) time.sleep(0.5)
limb.gripper_open() limb.gripper_open()
if not step['lastBrick']: if not step['lastBrick']:
print('Moving arm to hover ', step['step'], ' position...') print('Moving arm to hover ', step['step'], ' position...')