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Merge branch 'master' of login.stud.ntnu.no:ur5demo

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Michael Soukup 2014-08-07 14:22:24 +02:00
commit b3d999182c
2 changed files with 2 additions and 3 deletions
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5
config.py
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@ -70,12 +70,12 @@ JOINTS_HOME = [TABLE_QUADRANT*math.pi/2,
# FORCE MONITOR
#
# Enables force constraints on the tool (for manual control).
# When the force exceeds FORCE_CONSTRAINT (newton), the robot move in the direction
# When the force exceeds FORCE_CONSTRAINT, the robot move in the direction
# opposite to the current command in T_FORCE_VIOLATION seconds.
# Note: Setting this to "True" involves polling the UR5 through a real-time
# monitor that runs at 125Hz. If the controller runs slow, try disabling this.
USE_FORCE_MONITOR = True
FORCE_CONSTRAINT = 40
FORCE_CONSTRAINT = 40 # Newton
T_FORCE_VIOLATION = 0.3
@ -134,7 +134,6 @@ Z_MAX = TABLE_Z + 2*BLOCK_DIM
#
# Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y)
# hx, hy = hat
HATCODE = -1 #set to -1 to avoid polling hat
HX = 10
HY = 11

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config.pyc
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