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Add more statistics, fix camera, windows client update

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This commit is contained in:
Cole Deck
2024-08-06 17:01:27 -05:00
parent 534cc23c8d
commit f8507a1bc9
8 changed files with 132 additions and 62 deletions
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46
ur5_control.py
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@@ -581,7 +581,7 @@ def tray_routine(robot, slot=0, pick_up=True):
# Positions for each slot
slot_distance = .052
slot_height = -.015-.0095
slot_height = -.015-.0095+0.007 # add 7mm for shim
first_slot = -0.3084+0.01
slot_position = [
[first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
@@ -745,27 +745,28 @@ def close_gripper():
def get_position_thread(robot, pos_updates):
robot = connect(robot)
rob = robot.robot
oldvals = rob.getl()
deltavals = [0,0,0]
import uptime
t = 0.01
count = 0
while True:
start = uptime.uptime()
if pos_updates.qsize() < 2:
vals = rob.getl()
if vals != oldvals:
if pos_updates is not None:
pos_updates.put(tuple(oldvals))
try:
robot = connect(robot)
rob = robot.robot
oldvals = rob.getl()
deltavals = [0,0,0]
import uptime
t = 0.01
count = 0
while True:
start = uptime.uptime()
if pos_updates.qsize() < 2:
vals = rob.getl()
if vals != oldvals:
if pos_updates is not None:
pos_updates.put(tuple(oldvals))
#time.sleep(0.01)
# deltavals = list()
# deltavals.append(vals[0]-oldvals[0])
# deltavals.append(vals[1]-oldvals[1])
# deltavals.append(vals[2]-oldvals[2])
# count = 0
oldvals = vals
oldvals = vals
# else:
# count += 0.2
@@ -775,9 +776,10 @@ def get_position_thread(robot, pos_updates):
# tmpvals[1] = oldvals[1] + deltavals[1]*count
# tmpvals[2] = oldvals[2] + deltavals[2]*count
# pos_updates.put(tuple(tmpvals))
while start + t > uptime.uptime():
time.sleep(0.0001)
while start + t > uptime.uptime():
time.sleep(0.0001)
except:
pass
if __name__ == "__main__":
@@ -795,9 +797,9 @@ if __name__ == "__main__":
rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
move_to_packup(robot)
# pick_up_holder(robot, 2)
#move_to_packup(robot)
move_to_home(robot)
pick_up_holder(robot, None, 8)
#drop_off_tray(robot, 0)
# drop_off_tray(robot, 1)
# drop_off_tray(robot, 2)