pshell_config/mxsc
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gac-S_Changer
2018-03-19 11:36:12 +01:00
parent dd1359858b
commit 388734cb8b
35 changed files with 590 additions and 204 deletions
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10
script/calibration/ScanXZ.py
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@@ -9,13 +9,17 @@ else:
STEP_Z_FINAL = 0.1
RANGE = [-5.0, 5.0]
LATENCY = 0.005
LATENCY = 0.05
Z_FINAL_OFFSET = 0.0
SINGLE_PASS = True
STEP_SIZE = 0.1
robot.enable()
#move_to_laser()
move_to_laser()
step_x = STEP_SIZE
step_z = STEP_SIZE
@@ -27,7 +31,7 @@ current_x = robot_x.getPosition()
current_z = robot_z.getPosition()
print "Current pos x,z" , current_x, ",", current_z
ret = ascan([robot_x, robot_z], ue.readable, [range_x[0], range_z[0]], [range_x[1], range_z[1]], [step_x,step_z], latency = LATENCY, relative = True , zigzag=False, title = "2d Scan")
ret = ascan([robot_x, robot_z], ue.readable, [range_x[0], range_z[0]], [range_x[1], range_z[1]], [step_x,step_z], latency = LATENCY, relative = True , zigzag=False, title = "Scan XY")
data = ret.getData(0)[0]
#plot(Convert.transpose(data), title="Data")