pshell_config/mxsc
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gac-S_Changer
2017-12-06 15:16:07 +01:00
parent d7570bcaf3
commit dd1359858b
8 changed files with 161 additions and 101 deletions
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9
script/motion/tools.py
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@@ -19,8 +19,7 @@ def move_to_laser():
if d<POSITION_TOLERANCE:
print "FROM LASER"
robot.reset_motion()
robot.movel("pLaser", robot.tool, DESC_SCAN)
wait_end_of_move()
robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
return
d = robot.get_distance_to_pnt("pLaserAppro")
if d<0:
@@ -28,8 +27,7 @@ def move_to_laser():
if d<POSITION_TOLERANCE:
print "FROM APPRO"
robot.reset_motion()
robot.movel("pLaser", robot.tool, DESC_SCAN)
wait_end_of_move()
robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
return
d = robot.get_distance_to_pnt("pHome")
if d<0:
@@ -38,8 +36,7 @@ def move_to_laser():
print "FROM HOME"
robot.reset_motion()
robot.movel("pLaserAppro", robot.tool, DESC_DEFAULT)
robot.movel("pLaser", robot.tool, DESC_SCAN)
wait_end_of_move()
robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
return
raise Exception ("Must be in home position to start move to laser")