From 165e50aaee842d93d375467accb8867583fd2a68 Mon Sep 17 00:00:00 2001 From: alexey-kashapov Date: Wed, 20 Feb 2019 18:15:20 +0300 Subject: [PATCH] add calibrate for big robot --- eurobot_stm/scripts/manipulator.py | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/eurobot_stm/scripts/manipulator.py b/eurobot_stm/scripts/manipulator.py index 451d971..0a8a4df 100755 --- a/eurobot_stm/scripts/manipulator.py +++ b/eurobot_stm/scripts/manipulator.py @@ -35,16 +35,18 @@ def send_command(self, cmd, args): # if don't get response a lot of time - - def calibrate_step_motor(self): -# 1) collector move left -# 2) start calibration right stepper -# 3) make step down by right stepper -# 4) collector move right -# 5) start calibration left stepper -# 6) make step down by left stepper -# 7) make step down by left stepper -# 9) collector move default + def calibrate_small_robot(self): + self.send_command("manipulator-calibrate_step_motor_1", 48) + + def calibrate_big_robot(self): + # 1) collector move left + # 2) start calibration right stepper + # 3) make step down by right stepper + # 4) collector move right + # 5) start calibration left stepper + # 6) make step down by left stepper + # 7) make step down by left stepper + # 9) collector move default self.send_command("manipulator-calibrate_step_motor_1", 33) self.send_command("manipulator-calibrate_step_motor_2", 48, 1)