UGA-Innovation-Factory
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UR10-Sentry
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fixed i/o lock on global variable

This commit is contained in:
Tomás L 2024-07-23 15:43:19 -04:00
parent 7694f1a968
commit 662fc1956f
3 changed files with 10 additions and 8 deletions
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4
Robot/UR/URModbusServer.py
View File

@ -67,7 +67,7 @@ class URModbusServer:
if (packet is None) or (packet_signs is None): if (packet is None) or (packet_signs is None):
time.sleep(0.01) time.sleep(0.01)
print(f"[Angles] Modbus Error: retrying") print(f"[Angles] Modbus Error #{tries}: retrying")
return self.get_joint_angles(tries+1) return self.get_joint_angles(tries+1)
else: else:
base = self._format_sign(packet[9:11], packet_signs[9:11]) base = self._format_sign(packet[9:11], packet_signs[9:11])
@ -96,7 +96,7 @@ class URModbusServer:
if (packet is None): if (packet is None):
time.sleep(0.01) time.sleep(0.01)
print(f"[Speeds] Modbus Error: retrying") print(f"[Speeds] Modbus Error#{tries}: retrying")
return self.get_joint_speeds(tries+1) return self.get_joint_speeds(tries+1)
else: else:
base = self._format(packet[9:11]) / 1000 base = self._format(packet[9:11]) / 1000

2
URSentry.py
View File

@ -200,7 +200,7 @@ class URSentry:
# Deadzones where we still consider the target in the middle, to avoid jittering # Deadzones where we still consider the target in the middle, to avoid jittering
horizontal_dead_zone_radius = 0.1 horizontal_dead_zone_radius = 0.1
vertical_dead_zone_radius = 10.08 vertical_dead_zone_radius = 0.08
# Speeds for the base and neck joints # Speeds for the base and neck joints
base_max_speed = 1.5 base_max_speed = 1.5

12
main.py
View File

@ -24,15 +24,17 @@ class CameraJoystick(threading.Thread):
self.keep_running = True self.keep_running = True
def run(self): def run(self):
global current_joystick
while self.keep_running: while self.keep_running:
time.sleep(0.0001)
q_val = [] q_val = []
try: try:
q_val = q.get_nowait() q_val = q.get_nowait()
except queue.Empty: except queue.Empty:
pass pass
#print(bb) #print(bb)
bb = b.get_joystick_position_from_new_set_of_bboxes(q_val) current_joystick = b.get_joystick_position_from_new_set_of_bboxes(q_val)
self.joystick_queue.put(bb) #self.joystick_queue.put(bb)
def stop(self): def stop(self):
self.keep_running = False self.keep_running = False
@ -58,8 +60,8 @@ class JoystickScheduler(threading.Thread):
camera_joystick = CameraJoystick(joystick_queue) camera_joystick = CameraJoystick(joystick_queue)
camera_joystick.start() camera_joystick.start()
joystick_scheduler = JoystickScheduler(joystick_queue) # joystick_scheduler = JoystickScheduler(joystick_queue)
joystick_scheduler.start() # joystick_scheduler.start()
ur.initialize_pose() ur.initialize_pose()
@ -70,5 +72,5 @@ while True:
time.sleep(0.2) time.sleep(0.2)
except KeyboardInterrupt: except KeyboardInterrupt:
camera_joystick.stop() camera_joystick.stop()
joystick_scheduler.stop() # joystick_scheduler.stop()
break break