debug

01_Code/physical_computing_interface/assembly/python-urx/ur10test.py

@@ -175,11 +175,18 @@ for edge in setup["edges"]:
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     else:
       print("rotated") 
+      v = globalSetup["v"]
+      a = globalSetup["a"]
       #move siegfried (struts) to S4, then to build level 0.5, from reference location
       #uses movej for the rotation and to get close to the build plate, to avoid sketchiness
       siegfried.movej(strut90_siegfried_j, acc = a, vel = v)
       siegfried_trans = siegfried.get_pose()
-      siegfried_trans.pos.x -= latticePitch["y"]*(edge["y"]-0.5)
+      time.sleep(sleepTime)
+
+      v = globalSetup["v1"]
+      a = globalSetup["a1"]
+
+      siegfried_trans.pos.y += latticePitch["y"]*(edge["y"])
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
       siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)