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Add real-time UR5 position updates (hopefully)

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Cole Deck
2024-05-09 18:18:55 -05:00
parent f416e25c1c
commit be51423c89
7 changed files with 109 additions and 75 deletions
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108
config.yml
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@@ -92,37 +92,37 @@ led:
start: 0
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [0, 304.8]
- type: circle
start: 24
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-65.991, 266.7]
- type: circle
start: 48
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-131.982, 228.6]
- type: circle
start: 72
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-197.973, 190.5]
- type: circle
start: 96
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-263.965, 152.4]
- type: circle
start: 120
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-263.965, 76.2]
# controller 2
@@ -130,37 +130,37 @@ led:
start: 144
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [0, 228.6]
- type: circle
start: 168
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-65.991, 190.5]
- type: circle
start: 192
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-131.982, 152.4]
- type: circle
start: 216
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-197.973, 114.3]
- type: circle
start: 240
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-197.973, 38.1]
- type: circle
start: 264
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-263.965, 0]
# controller 3
@@ -168,37 +168,37 @@ led:
start: 288
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [0, 152.4]
- type: circle
start: 312
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-65.991, 114.3]
- type: circle
start: 336
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-131.982, 76.2]
- type: circle
start: 360
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-131.982, 0]
- type: circle
start: 384
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-199.0, -35.0]
- type: circle
start: 408
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-263.965, -76.2]
# controller 4
@@ -206,37 +206,37 @@ led:
start: 432
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, 76.2]
- type: circle
start: 456
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, 152.4]
- type: circle
start: 480
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, 228.6]
- type: circle
start: 504
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [65.991, 266.7]
- type: circle
start: 528
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [65.991, 190.5]
- type: circle
start: 552
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [65.991, 114.3]
@@ -245,37 +245,37 @@ led:
start: 576
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, 0]
- type: circle
start: 600
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [197.973, 38.1]
- type: circle
start: 624
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [197.973, 114.3]
- type: circle
start: 648
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [197.973, 190.5]
- type: circle
start: 672
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [263.965, 152.4]
- type: circle
start: 696
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [263.965, 76.2]
# controller 6
@@ -283,37 +283,37 @@ led:
start: 720
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, -76.2]
- type: circle
start: 744
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [197.973, -38.1]
- type: circle
start: 768
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [263.965, 0]
- type: circle
start: 792
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [263.965, -76.2]
- type: circle
start: 816
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [263.965, -152.4]
- type: circle
start: 840
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [197.973, -114.3]
# controller 7
@@ -321,37 +321,37 @@ led:
start: 864
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [65.991, -114.3]
- type: circle
start: 888
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [0, -152.4]
- type: circle
start: 912
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-65.991, -114.3]
- type: circle
start: 936
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-131.982, -76.2]
- type: circle
start: 960
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-197.973, -114.3]
- type: circle
start: 984
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-133.0, -151.0]
# controller 8
@@ -359,37 +359,37 @@ led:
start: 1008
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [0, -228.6]
- type: circle
start: 1032
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-65.991, -190.5]
- type: circle
start: 1056
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-65.991, -266.7]
- type: circle
start: 1080
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-131.982, -228.6]
- type: circle
start: 1104
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-197.973, -190.5]
- type: circle
start: 1128
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [-263.965, -152.4]
# controller 9
@@ -397,37 +397,37 @@ led:
start: 1152
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [0, -304.8]
- type: circle
start: 1176
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [65.991, -266.7]
- type: circle
start: 1200
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, -228.6]
- type: circle
start: 1224
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [197.973, -190.5]
- type: circle
start: 1248
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [131.982, -152.4]
- type: circle
start: 1272
size: 24
diameter: 63.5
angle: 0
angle: 180
pos: [65.991, -190.5]
# Strips