86 lines
2.5 KiB
Python
Executable File
86 lines
2.5 KiB
Python
Executable File
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import sys, config, math, time
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from ur5controller import DemoController
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def check_edges(controller):
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controller.movel(config.R_MIN, config.TABLE_EDGE_RIGHT, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movel(config.R_MIN, 0, config.Z_MIN)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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controller.movel(config.R_MIN, config.TABLE_EDGE_LEFT, config.Z_MIN)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def test_movec(controller):
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controller.movec(config.R_MIN, config.TABLE_EDGE_RIGHT, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movec(config.R_MIN, 0, config.Z_MIN)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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controller.movec(config.R_MIN, config.TABLE_EDGE_LEFT, config.Z_MIN)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def test_movec_hax(controller):
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controller.movec_hax(config.R_MIN, config.TABLE_EDGE_RIGHT, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_MIN, 0, config.Z_MIN)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_MIN, config.TABLE_EDGE_LEFT, config.Z_MIN)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def test_movec_hax2(controller):
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controller.movec_hax(config.R_MIN, config.TABLE_EDGE_RIGHT, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_MIN, 0, config.Z_MIN+0.3)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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# NOTE: current R_MIN+0.1=0.7 is where the tooltip is at the edge
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controller.movec_hax(config.R_MIN+0.1, config.TABLE_EDGE_LEFT, config.Z_MIN+0.1)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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if __name__ == '__main__':
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controller = None
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try:
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controller = DemoController(config)
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#check_edges(controller)
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test_movec_hax2(controller)
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# NEXT: test radial params and arbitrary paths.
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except Exception, e:
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print e
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time.sleep(1)
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if controller:
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controller.cleanup()
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sys.exit(1)
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