debug

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

@@ -160,9 +160,10 @@ for edge in setup["edges"]:
 
     
     #move siegfried (struts) to S1, then to build level 0.5, from reference location
-    if edge["rx"]<0.1 : 
-      siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["y"]))+edge["y"]*latticePitch["y"]
-      siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["x"]*latticePitch["x"]
+    if edge["rz"]>0.1 :
+      print("not rotated") 
+      siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["y"]))+edge["y"]*latticePitch["y"]
+      siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["x"]*latticePitch["x"]
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
       siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"])-edge["z"]*latticePitch["z"]
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
@@ -170,13 +171,15 @@ for edge in setup["edges"]:
       siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
       time.sleep(sleepTime1)
 
-      siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])-edge["z"]*latticePitch["z"]
+      siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
+      siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     else:
+      print("rotated") 
       #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.y -= latticePitch["y"]*(edge["y"]-0.5)
+      siegfried_trans.pos.x -= latticePitch["y"]*(edge["y"]-0.5)
       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)