Commit 68a4ee8e authored by Johannes Mey's avatar Johannes Mey
Browse files

update looping and margin of error for lcoation detection

parent 44ee5b0f
Pipeline #7508 passed with stages
in 4 minutes and 14 seconds
...@@ -90,12 +90,12 @@ aspect Computation { ...@@ -90,12 +90,12 @@ aspect Computation {
.setOrientation(getOrientation()) .setOrientation(getOrientation())
.setMode(plan.TrajectoryOuterClass.Trajectory.PlanningMode.FLUID) .setMode(plan.TrajectoryOuterClass.Trajectory.PlanningMode.FLUID)
.build()) .build())
.setLoop(true) .setLoop(false)
.build(); .build();
eq WorkStep.nextTrajectory() = getPredecessor().nextTrajectory(); eq WorkStep.nextTrajectory() = getPredecessor().nextTrajectory();
eq FinishedStep.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) { private boolean MoveToStep.isNear(plan.TrajectoryOuterClass.Trajectory.Position one, plan.TrajectoryOuterClass.Trajectory.Position other) {
return Math.abs(one.getX() - other.getX()) < DELTA && return Math.abs(one.getX() - other.getX()) < DELTA &&
Math.abs(one.getY() - other.getY()) < DELTA && Math.abs(one.getY() - other.getY()) < DELTA &&
......
...@@ -23,6 +23,6 @@ aspect Computation { ...@@ -23,6 +23,6 @@ aspect Computation {
} }
syn double RobotArm.getAppropriateSpeed() { syn double RobotArm.getAppropriateSpeed() {
return isInSafetyZone() ? 0.4d : 1.0d; return isInSafetyZone() ? 0.2d : 0.9d;
} }
} }
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