From 5d77f0fb55e3e23c7767524844d0dced002dc049 Mon Sep 17 00:00:00 2001
From: Michael Soukup <mic.soukup@gmail.com>
Date: Wed, 6 Aug 2014 14:43:57 +0200
Subject: [PATCH] draft for instructions

---
 TODO              |  11 ++++++++---
 demo.py           |  22 +++++++++++++++++++---
 instructions.txt  |   8 ++++++++
 ur5controller.pyc | Bin 12848 -> 12840 bytes
 4 files changed, 35 insertions(+), 6 deletions(-)
 create mode 100644 instructions.txt

diff --git a/TODO b/TODO
index a674f6c..0eae50a 100644
--- a/TODO
+++ b/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)
diff --git a/demo.py b/demo.py
index 02e849b..bfd5a71 100755
--- a/demo.py
+++ b/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)
diff --git a/instructions.txt b/instructions.txt
new file mode 100644
index 0000000..2602a9d
--- /dev/null
+++ b/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)
diff --git a/ur5controller.pyc b/ur5controller.pyc
index fb30325790515bb06aeb94e4423548340854c33f..448cee26ff45147e6524d70b47d9a472024d0859 100644
GIT binary patch
delta 44
ycmdmxvLc0*`7<xq)s3ti8WO4u3=AnH3bqQWdPZqF3S~f6O0j-Q$!1**W-b6477LvK

delta 52
zcmZ3HvLS_)`7<w9+D29m4Fz2W28NUp1zQDGJ)<-og|gI~{N&7%N+2V-B)>?ZY_qBc
GGZz4h;13-D