From 5d7d04227627ea7d2969577a3cc2c859a4e5ba0d Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Thu, 26 Jan 2023 12:14:48 +0200 Subject: [PATCH] Adjust timing and paper location --- .../drawing_controller/drawing_controller.py | 2 +- src/lite6_controller/src/lite6_controller.cpp | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/drawing_controller/drawing_controller/drawing_controller.py b/src/drawing_controller/drawing_controller/drawing_controller.py index b7f3317..4d34170 100644 --- a/src/drawing_controller/drawing_controller/drawing_controller.py +++ b/src/drawing_controller/drawing_controller/drawing_controller.py @@ -58,7 +58,7 @@ class DrawingController(Node): def __init__(self, svgpath): super().__init__('drawing_controller') #self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10) - timer_period = 5.0 # seconds + timer_period = 20.0 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 diff --git a/src/lite6_controller/src/lite6_controller.cpp b/src/lite6_controller/src/lite6_controller.cpp index 92658ab..f208f73 100644 --- a/src/lite6_controller/src/lite6_controller.cpp +++ b/src/lite6_controller/src/lite6_controller.cpp @@ -170,12 +170,12 @@ public: // // Set limits for A4 paper - float xlim_lower = 0.1; - float xlim_upper = 0.3; - float ylim_lower = -0.2; - float ylim_upper = 0.2; + float xlim_lower = 0.2; + float xlim_upper = 0.4; + float ylim_lower = -0.1; + float ylim_upper = 0.1; float zlim_lower = 0.1; - float zlim_upper = 0.2; + float zlim_upper = 0.15; /** * Function that translates an input value with a given range to a value within another range.