small changes, cleanup, added docs/

config.py

@@ -1,6 +1,6 @@
 import math
 
-DEBUG = True
+DEBUG = True #prints information to stdout
 
 
 # GUI
@@ -17,10 +17,10 @@ CTR_FPS = 60 #manual control
 
 # NETWORK
 #
-# The IP address can be found in the PolyScope interface (tablet) of the robot.
-# SETUP Robot -> Setup NETWORK (requires password) -> IP address
+# The IP address can be found in the PolyScope interface (tablet) of the robot. Select:
+# SETUP Robot -> Setup NETWORK (password: "ngr12") -> IP address
 UR5_IP = "129.241.187.119"
-UR5_HOSTNAME = 'ur-2012208984' #requires dns.
+UR5_HOSTNAME = 'ur-2012208984' #not used, requires dns.
 
 
 
@@ -41,7 +41,7 @@ BLOCK_DIM = 0.0965 #TUNED
 # along the base x-axis, quadrant 1.0 corresponds to the base y-axis, etc.
 # Quardant 0 is recommended.
 TABLE_QUADRANT = 0 #[0..4)
-TABLE_ORIGO_OFFSET = (-0.245, -0.003) #offset from origo along base x-axis
+TABLE_ORIGO_OFFSET = (-0.245, -0.003) #offset from robot base origo along base x-axis
 TABLE_Z = -0.3337 #this should be fine-tuned on each setup
 TABLE_ARC = math.pi/2
 
@@ -97,9 +97,11 @@ T_DIR_CHANGE_COOLDOWN = 0.05
 
 # Constraints are relative to the cylinder coordinate system.
 # Because of delay and fluctuations of parameters in the system,
-# the calculation of projected positions are not correct.
+# the estimated velocity at each time instant is not correct, consequently the 
+# calculation of projected positions are also not correct.
 # Therefore, an empirical offset is added in controller.update().
-# Consider this before changing control speed
+# Consider this before changing control speed: It may be required to change the
+# offsets in the code (not tested)
 R_MIN = 0.49
 R_MAX = 0.75
 THETA_MIN= -TABLE_ARC/2
@@ -132,8 +134,8 @@ Z_MAX = TABLE_Z + 2*BLOCK_DIM
 # Left trigger:2
 # Right trigger:5
 #
-# Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y)
-# hx, hy = hat
+# Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y) = (hx, hy)
+
 HATCODE = -1 #set to -1 to avoid polling hat
 HX = 10
 HY = 11
@@ -141,7 +143,6 @@ HAT_MAP = {
 	HX: (0,1,0),
 	HY: (-1,0,0) #inverted
 }
-
 #BUTTON_MAP = {
 #	4: (0,0,-1),
 #	5: (0,0,1)
@@ -163,7 +164,7 @@ BUTTON_MAP = { #Buttons only (no hat)
 # This means that the trapezoidal velocity curve has the same slope at
 # start and end of a motion. (acceleration=deceleration)
 #
-# Constraints in r and z-direction are specefied in levels to enable
+# Coordinates in r and z-direction are specefied in block-space to enable
 # easier construction of loops. Note that the r-levels grow inwards, and
 # the z-levels grow upwards.
 DEFAULT_LOOP_VEL = 0.1
@@ -176,7 +177,7 @@ Z_LVL0 = TABLE_Z + BLOCK_DIM/2 #tool in middle of block
 THETA_EDGE_LEFT = -math.pi/4 + math.pi/74 #empirical. table is not exact
 THETA_EDGE_RIGHT = math.pi/4 - math.pi/74
 
-# Offsets when picking (and placing) blocks.
+# Offsets when picking (and placing) blocks specified in cylinder space.
 # The place-block move is the reverse of the pick-block move,
 # such that the start/end offsets for pick-block are the end/start offsets
 # for place-block

instructions.txt

@@ -1,7 +0,0 @@
-(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)

unittesting.py

@@ -325,7 +325,7 @@ if __name__ == '__main__':
         ("Check z-levels", check_z_levels),
         ("Test unitary moves.", test_unitary_moves),
         ("Test multi-directional moves", test_multi_moves),
-        ("Check loop constraints", check_loop_constraints),
+        ("Check loop constraints and block positions", check_loop_constraints),
         ("Test URScript's movec", test_movec),
         ("Build four stories high", four_stories),
         ("Build small pyramid", small_pyramid)