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This commit is contained in:
Max Hunt 2020-02-26 11:12:28 +00:00
parent fc1363b5cc
commit 817fbd5ab9
1 changed files with 37 additions and 28 deletions
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65
new_main.py
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@ -207,8 +207,6 @@ def V_Routine():
x = raw_input('Ready?') x = raw_input('Ready?')
if x == 'n':exit(0) if x == 'n':exit(0)
left_pnp.send(ta.V_pickup) left_pnp.send(ta.V_pickup)
x = raw_input('Close?')
if x == 'n':exit(0)
left_pnp.gripper_close() left_pnp.gripper_close()
gripper_state = left_pnp.gripperPosition() gripper_state = left_pnp.gripperPosition()
@ -244,14 +242,12 @@ def H_Routine():
x = raw_input('Ready?') x = raw_input('Ready?')
if x == 'n':exit(0) if x == 'n':exit(0)
left_pnp.send(ta.H_pickup) left_pnp.send(ta.H_pickup)
x = raw_input('Close?')
if x == 'n':exit(0)
left_pnp.gripper_close() left_pnp.gripper_close()
gripper_state = left_pnp.gripperPosition() gripper_state = left_pnp.gripperPosition()
if gripper_state < 10: 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 >_ ') command = raw_input('\n \n PROBLEM DETECTED!!!\nGripper has nothing in it...\n(C)ontinue, (A)bort, (O)pen gripper\n>_ ')
if command == 'C': if command == 'C':
pass pass
elif command == 'c': elif command == 'c':
@ -272,85 +268,98 @@ left_pnp.gripper_open()
V_Routine() V_Routine()
left_pnp.send(ta.B_1_A) left_pnp.send(ta.B_1_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_1_P) left_pnp.send(ta.B_1_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition())
print('GRIPPA POSITION+++')
print()
left_pnp.send(ta.B_1_A) left_pnp.send(ta.B_1_A)
V_Routine() V_Routine()
left_pnp.send(ta.B_2_A) left_pnp.send(ta.B_2_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_2_P) left_pnp.send(ta.B_2_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_2_A) left_pnp.send(ta.B_2_A)
V_Routine() V_Routine()
left_pnp.send(ta.B_3_A) left_pnp.send(ta.B_3_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_3_P) left_pnp.send(ta.B_3_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_3_A) left_pnp.send(ta.B_3_A)
H_Routine() H_Routine()
left_pnp.send(ta.B_4_A) left_pnp.send(ta.B_4_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_4_P) left_pnp.send(ta.B_4_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_4_A) left_pnp.send(ta.B_4_A)
H_Routine() H_Routine()
left_pnp.send(ta.B_5_A) left_pnp.send(ta.B_5_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_5_P) left_pnp.send(ta.B_5_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_5_A) left_pnp.send(ta.B_5_A)
V_Routine() V_Routine()
left_pnp.send(ta.B_6_A) left_pnp.send(ta.B_6_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_6_P) left_pnp.send(ta.B_6_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_6_A) left_pnp.send(ta.B_6_A)
V_Routine() V_Routine()
left_pnp.send(ta.B_7_A) left_pnp.send(ta.B_7_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_7_P) left_pnp.send(ta.B_7_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_7_A) left_pnp.send(ta.B_7_A)
H_Routine() H_Routine()
left_pnp.send(ta.B_8_A) left_pnp.send(ta.B_8_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_8_P) left_pnp.send(ta.B_8_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_8_A) left_pnp.send(ta.B_8_A)
V_Routine() V_Routine()
left_pnp.send(ta.B_9_A) left_pnp.send(ta.B_9_A)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_9_P) left_pnp.send(ta.B_9_P)
x = raw_input('Continue?: ') if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
left_pnp.send(ta.B_9_Z) left_pnp.send(ta.B_9_Z)