script/calibration/ScanRZ.py

@@ -1,26 +1,31 @@
+#Imports
 import plotutils
 from mathutils import fit_gaussian, Gaussian
 
-RANGE = [180.0,-180.0]
+#Parameters
+RANGE = [-120.0,120.0]
 STEP = 5.0
 LATENCY = 0.005
 RELATIVE = False
 
-
-robot.set_tool(TOOL_DEFAULT)
-
+#Enabling and checking
+#enable_power()
+#system_check()
 robot.enable()
+
+
+#Body
+robot.set_tool(TOOL_DEFAULT)
 move_to_laser()
-
-
-
-
-
-
-
-robot.set_joint_motors_enabled(True)
+#robot.set_joint_motors_enabled(True)
+robot.set_motors_enabled(True)
+robot_rz.move(0.0)
+robot.set_motors_enabled(True)
 ret = lscan(robot_rz, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = RELATIVE, range = "auto", title = "Scan2")
 
 
+#Cleanup
+
+
 
 

script/calibration/ScanY.py

@@ -9,7 +9,7 @@ if d<0:
 if d>20:
     raise Exception ("Should be near the laser position to perform the scan")
 
-RANGE = [-1.5, 1.5]
+RANGE = [-2.0, 2.0] #[-1.5, 1.5]
 STEP = 0.02
 Z_OFFSET = 0 #-1.0
 LATENCY = 0.025

script/calibration/ToolCalibration2.py

@@ -2,13 +2,17 @@ import plotutils
 from mathutils import fit_gaussian, Gaussian
 
 
-robot.assert_tool(TOOL_CALIBRATION)
+#robot.assert_tool(TOOL_CALIBRATION)
+#cal_tool = TOOL_DEFAULT 
+cal_tool = TOOL_CALIBRATION
+
+robot.set_tool(cal_tool)
 robot.enable()
-robot.set_motors_enabled(True)
-robot.set_joint_motors_enabled(True)
 move_to_laser()
 
 
+robot.set_motors_enabled(True)
+robot.set_joint_motors_enabled(True)
 initial_pos = robot.get_cartesian_pos()
 
 robot.enable()
@@ -52,7 +56,7 @@ robot.set_pnt(robot.get_cartesian_pos(), "pTemp")
 robot.set_trsf([off_x, 0,0,0,0,0])
 c=robot.compose("pTemp", "fTable", "tcp_t" )
 robot.set_pnt(c, "pTemp")
-robot.movel("pTemp", TOOL_CALIBRATION, DESC_SCAN, sync=True)
+robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True)
 
 
 pos2 = robot.get_cartesian_pos()
@@ -66,10 +70,17 @@ print "Position 2: ", pos2
 xoff = (pos2[0]-pos1[0])/2
 yoff = (pos2[1]-pos1[1])/2
 
-print "Offset: ", [xoff, yoff]
+#print "Offset: ", [xoff, yoff]
 
 t=robot.get_tool_trsf(TOOL_DEFAULT)
-t[0]=-xoff 
-t[1]=yoff 
+t[0]=xoff 
+t[1]=-yoff 
+print "Offset: ", [t[0], t[1]]
 robot.set_tool_trsf(t, TOOL_DEFAULT)
 
+robot.set_tool(TOOL_DEFAULT)
+d = robot.get_distance_to_pnt("pLaser")
+if d<POSITION_TOLERANCE:
+    print "Moving calibrated tool to laser"
+else:
+    print "Cannot move calibrated tool to laser: toog big offset"