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This commit is contained in:
Max Hunt 2020-02-26 10:56:48 +00:00
parent 23842b2e1a
commit bf4e100d5f
1 changed files with 18 additions and 4 deletions
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22
new_main.py
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@ -193,10 +193,6 @@ hover_distance = 0.2
left_pnp = PickAndPlace('left', hover_distance) left_pnp = PickAndPlace('left', hover_distance)
print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition())
print('GRIPPA POSITION+++')
print()
left_pnp.gripper_open() left_pnp.gripper_open()
print('GRIPPA POSITION+++') print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition()) print(left_pnp.gripperPosition())
@ -214,6 +210,12 @@ def V_Routine():
x = raw_input('Close?') x = raw_input('Close?')
if x == 'n':exit(0) if x == 'n':exit(0)
left_pnp.gripper_close() left_pnp.gripper_close()
print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition())
print('GRIPPA POSITION+++')
print()
time.sleep(0.5) time.sleep(0.5)
left_pnp.send(ta.V_approach) left_pnp.send(ta.V_approach)
@ -229,6 +231,12 @@ def H_Routine():
x = raw_input('Close?') x = raw_input('Close?')
if x == 'n':exit(0) if x == 'n':exit(0)
left_pnp.gripper_close() left_pnp.gripper_close()
print('GRIPPA POSITION+++')
print(left_pnp.gripperPosition())
print('GRIPPA POSITION+++')
print()
time.sleep(0.5) time.sleep(0.5)
left_pnp.send(ta.H_approach) left_pnp.send(ta.H_approach)
@ -242,6 +250,12 @@ x = raw_input('Continue?: ')
left_pnp.send(ta.B_1_P) left_pnp.send(ta.B_1_P)
x = raw_input('Continue?: ') 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()