From 2900825ac8dd02ccdcbf4637fc57045eb0a4a1ad Mon Sep 17 00:00:00 2001 From: gac-bernina Date: Fri, 12 Jul 2024 12:29:12 +0200 Subject: [PATCH] Fixed error in sph2cart function for gamma > 180 --- script/devices/RobotBernina.py | 10 ++-------- script/devices/RobotTCP.py | 3 --- 2 files changed, 2 insertions(+), 11 deletions(-) diff --git a/script/devices/RobotBernina.py b/script/devices/RobotBernina.py index b986529..7e0adda 100644 --- a/script/devices/RobotBernina.py +++ b/script/devices/RobotBernina.py @@ -25,7 +25,6 @@ simulation = False class RobotBernina(RobotTCP): def __init__(self, name, server, timeout = 1000, retries = 1): RobotTCP.__init__(self, name, server, timeout, retries) - self.invert_detector_rz = AdjustableFS(name = "invert_detector_rz", default_value=False) self.set_tasks(TASKS) self.set_known_points(KNOWN_POINTS) self.setPolling(DEFAULT_ROBOT_POLLING) @@ -43,10 +42,7 @@ class RobotBernina(RobotTCP): self.remote_allowed_deltas = AdjustableFS(name="remote_allowed_deltas", default_value = default_remote_allowed_deltas) def set_override_remote_safety(self, value): - self.override_remote_safety(bool(value)) - - def set_invert_detector_rz(self, value): - self.invert_detector_rz(bool(value)) + self.override_remote_safety = bool(value) def reset_recorded_motions(self, index=None, motion=None): if any([index is None, motion is None]): @@ -235,10 +231,8 @@ class RobotBernina(RobotTCP): #rz = -math.asin(-math.sin(-math.sin(gamma)*math.sin(-delta)*math.sqrt(1/(math.cos(-delta)**2+(math.sin(gamma)*math.sin(-delta))**2)))) #rx, ry, rz = self.rad2deg([-delta,+gamma, rz]) - if self.invert_detector_rz(): - rz = rz+180 if abs(rz//180) > 0: - rz = rz - (rz+180)/360*360 + rz = rz - (rz+180)//360*360 if return_dict: diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py index 87d1654..626eb65 100644 --- a/script/devices/RobotTCP.py +++ b/script/devices/RobotTCP.py @@ -771,7 +771,6 @@ class RobotTCP(TcpDevice, Stoppable): self.on_poll_status.update({ "connected": self.connected, "powered": self.powered, - "invert_detector_rz": self.invert_detector_rz(), "override_remote_safety": self.override_remote_safety, "speed": self.speed, "settled": self.settled, @@ -928,7 +927,6 @@ class RobotTCP(TcpDevice, Stoppable): pos.update(self.joint_pos) pos.update(self.linear_axis_pos) self.on_poll_status = { - "invert_detector_rz": self.invert_detector_rz(), "connected": self.connected, "powered": self.powered, "speed": self.speed, @@ -968,7 +966,6 @@ class RobotTCP(TcpDevice, Stoppable): def on_poll_info(self): on_poll_config_methods ={ "powered": {"cmd":"robot.set_powered", "def_kwargs": ""}, - "invert_detector_rz": {"cmd":"robot.set_invert_detector_rz", "def_kwargs": ""}, "override_remote_safety": {"cmd":"robot.set_override_remote_safety", "def_kwargs": ""}, "speed": {"cmd":"robot.set_monitor_speed", "def_kwargs": ""}, "frame": {"cmd": "robot.set_frame", "def_kwargs": "change_default=True",},