From 68a4ee8ebbe57f1744e156ab24318f00bf6f983a Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Mon, 27 Jul 2020 14:37:24 +0200 Subject: [PATCH] update looping and margin of error for lcoation detection --- ros2rag.goal/src/main/jastadd/Computation.jrag | 4 ++-- ros2rag.starter/src/main/jastadd/Computation.jrag | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ros2rag.goal/src/main/jastadd/Computation.jrag b/ros2rag.goal/src/main/jastadd/Computation.jrag index 446dfaa..86e866e 100644 --- a/ros2rag.goal/src/main/jastadd/Computation.jrag +++ b/ros2rag.goal/src/main/jastadd/Computation.jrag @@ -90,12 +90,12 @@ aspect Computation { .setOrientation(getOrientation()) .setMode(plan.TrajectoryOuterClass.Trajectory.PlanningMode.FLUID) .build()) - .setLoop(true) + .setLoop(false) .build(); eq WorkStep.nextTrajectory() = getPredecessor().nextTrajectory(); eq FinishedStep.nextTrajectory() = getPredecessor().nextTrajectory(); - private static final double MoveToStep.DELTA = 0.1; + private static final double MoveToStep.DELTA = 0.005; private boolean MoveToStep.isNear(plan.TrajectoryOuterClass.Trajectory.Position one, plan.TrajectoryOuterClass.Trajectory.Position other) { return Math.abs(one.getX() - other.getX()) < DELTA && Math.abs(one.getY() - other.getY()) < DELTA && diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.starter/src/main/jastadd/Computation.jrag index d7c003c..d891952 100644 --- a/ros2rag.starter/src/main/jastadd/Computation.jrag +++ b/ros2rag.starter/src/main/jastadd/Computation.jrag @@ -23,6 +23,6 @@ aspect Computation { } syn double RobotArm.getAppropriateSpeed() { - return isInSafetyZone() ? 0.4d : 1.0d; + return isInSafetyZone() ? 0.2d : 0.9d; } } -- GitLab