draft for instructions

TODO

@@ -3,12 +3,17 @@
 - Make user for robot demo (give sudo) (OK)
 - Make script, place at desktop (OK)
 - Add author
-- Run tests.
+- Run tests. (OK)
 (write manual)
 
 TESTS:
 - Test with router connected to internjet (PASSED)
-- Shutdown everything, restart. (without network)
+- Shutdown everything, restart. (without network) (PASSED, but maybe requires to change IP)
 - Test manual control, especially boundaries and force monitor. (PASSED)
 - Test loops. (PASSED)
-- Provoke exceptions that can halt the demo app.
+
+Provoke exceptions that can halt the demo app:
+	Press stop on tablet during loop, manual control and menu (PASSED, but requires to restart the robot.)
+	Provoke security stop --------------''----------------- (PASSED. When looping, exit and restart the loop. It doesnt pick up where it left.)
+	Shutdown robot -------------------''------------------- (PASSED. The application can continue withour restart when rebooting the robot)
+	Close application ----------------''------------------ (PASSED)

demo.py

@@ -47,6 +47,14 @@ class UR5Demo(object):
         if error:
             msg.append(error)
 
+        msg.append("Stopping robot...")
+        self._disptxt(msg)
+        try:
+            self.controller.robot.stopl(acc=0.2)
+        except Exception, e:
+            msg.append("Could not stop robot: %s" % e)
+        self._disptxt(msg)
+
         msg.append("Setting robot to freedrive mode...")
         self._disptxt(msg)
         try:
@@ -60,7 +68,7 @@ class UR5Demo(object):
         self._disptxt(msg)
         if self.controller:
             self.controller.cleanup()
-        time.sleep(2) # Give the UR5 threads a chance to terminate
+        time.sleep(1) # Give the UR5 threads a chance to terminate
         msg.append("Exit...")
         self._disptxt(msg)
         pygame.quit()
@@ -69,11 +77,19 @@ class UR5Demo(object):
         else:
             return 0
 
+
     def go_home_pos(self):
-        self._disptxt(["Going to home configuration..."])
+        msg = ["Going to home configuration..."]
+        self._disptxt(msg)
         pose = self.controller.cylinder2cartesian(config.R_HOME, config.THETA_HOME, config.Z_HOME)
         move = pose + [0.5, 0.1, 0]
-        self.controller.exec_move(move, wait=True)
+        try:
+            self.controller.exec_move(move, wait=True)
+        except Exception, e:
+            msg.append("Error: %s" % e)
+            self._disptxt(msg)
+            time.sleep(2)
+
 
     def freedrive(self):
         self.controller.set_freedrive(True)

instructions.txt

@@ -0,0 +1,8 @@
+Based on tests.
+
+After security stop (red button), shut down and restart robot.
+After stop during loop, exit and restart loop. (The robot doesnt continue where it stopped)
+
+
+When running the application, the robot has to be initialized (all lights green or teach mode)
+When the application exits normally, the robot is set to freedrive mode (TEACH on tablet)