michael/ur5demo
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Michael Soukup 2014-08-07 14:22:24 +02:00
commit b3d999182c
2 changed files with 2 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
config.py
View File

@ -70,12 +70,12 @@ JOINTS_HOME = [TABLE_QUADRANT*math.pi/2,
# FORCE MONITOR # FORCE MONITOR
# #
# Enables force constraints on the tool (for manual control). # 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. # opposite to the current command in T_FORCE_VIOLATION seconds.
# Note: Setting this to "True" involves polling the UR5 through a real-time # 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. # monitor that runs at 125Hz. If the controller runs slow, try disabling this.
USE_FORCE_MONITOR = True USE_FORCE_MONITOR = True
FORCE_CONSTRAINT = 40 FORCE_CONSTRAINT = 40 # Newton
T_FORCE_VIOLATION = 0.3 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) # Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y)
# hx, hy = hat # hx, hy = hat
HATCODE = -1 #set to -1 to avoid polling hat HATCODE = -1 #set to -1 to avoid polling hat
HX = 10 HX = 10
HY = 11 HY = 11

BIN
config.pyc
View File

Binary file not shown.