UGA-Innovation-Factory/UR10-Sentry
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This commit is contained in:
Tomás L
2024-07-19 15:14:52 -04:00
parent d47413de71
commit 685c1db246
4 changed files with 9 additions and 5 deletions
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8
URSentry.py
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@@ -81,6 +81,7 @@ class URSentry:
ticks_to_wait = 10
if self.await_stop:
print("Awaiting stop --------------------")
joint_speeds = self.robot.get_joint_speeds()
if all([speed == 0 for speed in joint_speeds]):
self.await_stop_ticks += 1
@@ -90,6 +91,7 @@ class URSentry:
return
if self.send_to_zero_on_stop:
print("Sending to zero --------------------")
self.await_stop = True
self.send_to_zero_on_stop = False
self.forward_position_to_base_angle_degrees(0)
@@ -111,8 +113,8 @@ class URSentry:
vertical_dead_zone_radius = 0.1
# Speeds for the base and neck joints
base_max_speed = 0.8
base_min_speed = 0.3
base_max_speed = 1.1
base_min_speed = 0.2
base_acceleration = 1.5
@@ -154,7 +156,7 @@ class URSentry:
)
self.smooth_stop_delayed_call.start()
# print("Robot speed: ", self.robot_speed)
print("Robot speed: ", self.robot_speed)
self.robot.speedj(self.robot_speed, base_acceleration, 1)