Commit 6a5632ff authored by Sam Calisch's avatar Sam Calisch

did two weldign tests!

parent 1f40150c
......@@ -116,21 +116,27 @@ def stream_test_1():
push_z_axis()
sleep(.1)
movel(p,a=.5,v=.05,t=0,r=.0001)
return pose_add(position_increm,p[0,0,.0015,0,0,0])
return pose_add(position_increm,p[0,0,.0008,0,0,0])
end
def process_loop(approach,pts):
#move pts[0] in the direction of pts[n-1]
p_start = interpolate_pose(pts[0],pts[get_list_length(pts)-1],.2)
movel(approach,a=.5,v=.2,r=.01)
movel(pts[0],a=.5,v=.03,r=0)
movel(p_start,a=.5,v=.03,r=0)
stopl(.25)
sleep(.1)
movep(pts[0],a=.5,v=.03,r=0)
movep(p_start,a=.5,v=.03,r=0)
i=0
set_tool_digital_out(0, True)
while i<get_list_length(pts):
movep(pts[i],a=.5,v=.03,r=var_r)
i = i+1
end
movep(pts[0],a=.5,v=.03,r=0)
movep(p_start,a=.5,v=.03,r=0)
sleep(.1)
set_tool_digital_out(0, False)
movel(approach,a=.5,v=.05,r=0)
end
......@@ -141,8 +147,10 @@ def stream_test_1():
app_1 = p[-0.501350, -0.475087, 0.193433, -1.209338, -1.209378, 1.209117]
app_1 = pose_add(app_1,p[-.02,.02,0,0,0,0])
global c1 = set_z(app_1)
global c12=set_z(pose_add(app_1,p[0,.5*var_xx,0,0,0,0]))
global c2=set_z(pose_add(app_1,p[0,var_xx,0,0,0,0]))
global c3=set_z(pose_add(app_1,p[-var_yy,var_xx,0,0,0,0]))
global c34=set_z(pose_add(app_1,p[-var_yy,.5*var_xx,0,0,0,0]))
global c4=set_z(pose_add(app_1,p[-var_yy,0,0,0,0,0]))
global app_2=pose_add(app_1,p[-var_yy/2+var_y/2,var_xx/2-var_d/2,0,0,0,0])
global d1=set_z(app_2)
......@@ -153,7 +161,7 @@ def stream_test_1():
global d6=set_z(pose_add(app_1,p[-var_yy/2,var_xx/2-var_x/2,0,0,0,0]))
$ 4 "tracing"
process_loop(app_1,[c1,c2,c3,c4])
process_loop(app_2,[d1,d2,d3,d4,d5,d6])
process_loop(app_2,[d1,d2,d3,d4,d5,d6]) #inside out
process_loop(app_1,[c1,c12,c2,c3,c34,c4])
end
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