Jukebox/jukebox-software
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Try old method

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This commit is contained in:
Cole Deck 2024-05-14 18:52:27 -05:00
parent 2562fea076
commit 25085f542f
2 changed files with 45 additions and 17 deletions
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2
jukebox-web

@ -1 +1 @@
Subproject commit bdcc1d76138309ceee28ad6e3bf8e6ea8b39b8ad
Subproject commit a2e94baadc8a8cc702d2a5ceb1170914e690d0e7

60
ur5_control.py
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@ -679,17 +679,49 @@ def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
drop_off_holder(robot, pos_updates, holder_index)
# def open_gripper():
# fprint("Opening gripper")
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
# c.open()
# while not c.is_open:
# time.sleep(0.01)
# c.write_single_register(112, 0b0)
# # c.write_single_register(435, 0b10000000)
# time.sleep(0.5)
# # c.write_single_register(112, 0b0)
# c.write_single_register(435, 0b10000000)
# time.sleep(0.5)
# c.close()
# #c.close()
# def close_gripper():
# fprint("Closing gripper")
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
# c.open()
# while not c.is_open:
# time.sleep(0.01)
# c.write_single_register(435, 0b00000000)
# # c.write_single_register(112, 0b1)
# time.sleep(0.5)
# # c.write_single_register(435, 0b00000000)
# c.write_single_register(112, 0b1)
# time.sleep(0.5)
# c.close()
# time.sleep(0.2)
# #
def open_gripper():
fprint("Opening gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
c.open()
while not c.is_open:
time.sleep(0.01)
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000)
c.write_single_register(112, 0b0)
# c.write_single_register(435, 0b10000000)
time.sleep(0.5)
# c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000)
time.sleep(0.5)
c.close()
@ -698,21 +730,17 @@ def open_gripper():
def close_gripper():
fprint("Closing gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
c.open()
while not c.is_open:
time.sleep(0.01)
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1)
c.write_single_register(435, 0b00000000)
# c.write_single_register(112, 0b1)
time.sleep(0.5)
# c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1)
time.sleep(0.5)
c.close()
time.sleep(0.2)
#
def get_position_thread(robot, pos_updates):
robot = connect(robot)
rob = robot.robot