UGA-Innovation-Factory/UR10-Sentry
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V1.0.0 sentry follows properly

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Tomás L
2024-07-19 15:48:42 -04:00
parent 685c1db246
commit 9b8f4d60c0
5 changed files with 23 additions and 19 deletions
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9
URSentry.py
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@@ -79,7 +79,7 @@ class URSentry:
# print("Base Speed: ", self.robot_speed[0])
ticks_to_wait = 10
ticks_to_wait = 3
if self.await_stop:
print("Awaiting stop --------------------")
joint_speeds = self.robot.get_joint_speeds()
@@ -95,6 +95,7 @@ class URSentry:
self.await_stop = True
self.send_to_zero_on_stop = False
self.forward_position_to_base_angle_degrees(0)
return
# Cancel smooth stopping due to no input
if self.smooth_stop_delayed_call is not None:
@@ -113,8 +114,8 @@ class URSentry:
vertical_dead_zone_radius = 0.1
# Speeds for the base and neck joints
base_max_speed = 1.1
base_min_speed = 0.2
base_max_speed = 1.5
base_min_speed = 0.1
base_acceleration = 1.5
@@ -156,7 +157,7 @@ class URSentry:
)
self.smooth_stop_delayed_call.start()
print("Robot speed: ", self.robot_speed)
print("Base speed: ", self.robot_speed[0], " Joystick: ", joystick_pos_x)
self.robot.speedj(self.robot_speed, base_acceleration, 1)