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Some new values to test, hard coded and untested because Sights 1 is …
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…end of life
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WilliamsJack committed Jun 23, 2021
1 parent 9b9c74c commit 1c4bf03
Showing 1 changed file with 9 additions and 5 deletions.
14 changes: 9 additions & 5 deletions src/control_receiver.py
Expand Up @@ -140,21 +140,25 @@ def keyboard_handler(self, control, value):
self.logger.info("GOING HOME: 1")
self.servos.go_to_pos(int(self.config["arm"]["shoulder"]), 3712)
self.logger.info("GOING HOME: 2")
self.servos.go_to_pos(int(self.config["arm"]["wrist"]), 6208)
self.servos.go_to_pos(int(self.config["arm"]["wrist"]), 3456)
self.logger.info("GOING HOME: 3")
self.servos.go_to_pos(int(self.config["arm"]["elbow"]), 3840)
self.servos.go_to_pos(int(self.config["arm"]["elbow"]), 3776)
self.logger.info("GOING HOME: 4")
self.servos.go_to_pos(int(self.config["arm"]["gripper"]), 4112)
self.logger.info("GOING HOME: 5")
elif control == "MAPPING":
if value == "DOWN":
self.logger.info("GOING EXPLORING")
self.servos.go_to_pos(int(self.config["arm"]["elbow"]), 4800)
self.logger.info("GOING EXPLORING: 1")
self.servos.go_to_pos(int(self.config["arm"]["wrist"]), 3584)
self.servos.go_to_pos(int(self.config["arm"]["wrist"]), 3724)
self.logger.info("GOING EXPLORING: 2")
self.servos.go_to_pos(int(self.config["arm"]["shoulder"]), 6592)
self.servos.go_to_pos(int(self.config["arm"]["shoulder"]), 5960)
self.logger.info("GOING EXPLORING: 3")
self.servos.go_to_pos(int(self.config["arm"]["elbow"]), 3840)
self.servos.go_to_pos(int(self.config["arm"]["elbow"]), 3820)
self.logger.info("GOING EXPLORING: 4")
self.servos.go_to_pos(int(self.config["arm"]["gripper"]), 4112)
self.logger.info("GOING EXPLORING: 5")

def message_handler(self, buf):
# Load object from JSON
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