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Update axidraw conf

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This commit is contained in:
Nicolas Hiillos
2023-04-28 15:47:51 +03:00
parent 9e191df7e4
commit 7ce34b4834
3 changed files with 7 additions and 5 deletions
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6
config.yaml
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@@ -12,7 +12,11 @@
lite6_max_velocity_scaling_factor: 1.0 lite6_max_velocity_scaling_factor: 1.0
lite6_max_acceleration_scaling_factor: 0.9 lite6_max_acceleration_scaling_factor: 0.9
/axidraw_serial:
ros__parameters:
axidraw_accel: 100 axidraw_accel: 100
axidraw_speed_pendown: 50
axidraw_speed_penup: 50
axidraw_const_speed: false axidraw_const_speed: false
axidraw_pen_delay_down: 0 axidraw_pen_delay_down: 0
axidraw_pen_delay_up: 0 axidraw_pen_delay_up: 0
@@ -20,5 +24,3 @@
axidraw_pen_pos_up: 60 axidraw_pen_pos_up: 60
axidraw_pen_rate_lower: 50 axidraw_pen_rate_lower: 50
axidraw_pen_rate_raise: 75 axidraw_pen_rate_raise: 75
axidraw_speed_pendown: 100
axidraw_speed_penup: 100

4
src/axidraw_controller/config/config.yaml
View File

@@ -8,5 +8,5 @@
axidraw_pen_pos_up: 60 axidraw_pen_pos_up: 60
axidraw_pen_rate_lower: 50 axidraw_pen_rate_lower: 50
axidraw_pen_rate_raise: 75 axidraw_pen_rate_raise: 75
axidraw_speed_pendown: 100 axidraw_speed_pendown: 50
axidraw_speed_penup: 100 axidraw_speed_penup: 50

2
src/axidraw_controller/src/py/axidraw_serial.py
View File

@@ -65,7 +65,7 @@ class AxidrawSerial(Node):
self.ad.options.speed_pendown = self.get_parameter('axidraw_speed_pendown').get_parameter_value().integer_value # Maximum XY speed when the pen is down (plotting). self.ad.options.speed_pendown = self.get_parameter('axidraw_speed_pendown').get_parameter_value().integer_value # Maximum XY speed when the pen is down (plotting).
self.ad.options.speed_penup = self.get_parameter('axidraw_speed_penup').get_parameter_value().integer_value # Maximum XY speed when the pen is up. self.ad.options.speed_penup = self.get_parameter('axidraw_speed_penup').get_parameter_value().integer_value # Maximum XY speed when the pen is up.
self.ad.options.accel = self.get_parameter('axidraw_accel').get_parameter_value().integer_value # Relative acceleration/deceleration speed. self.ad.options.accel = self.get_parameter('axidraw_accel').get_parameter_value().integer_value # Relative acceleration/deceleration speed.
self.get_logger().error('accel:{}'.format(self.get_parameter('axidraw_accel').get_parameter_value().integer_value)) #self.get_logger().error('accel:{}'.format(self.get_parameter('axidraw_accel').get_parameter_value().integer_value))
self.ad.options.pen_pos_down = self.get_parameter('axidraw_pen_pos_down').get_parameter_value().integer_value #Pen height when the pen is down (plotting). self.ad.options.pen_pos_down = self.get_parameter('axidraw_pen_pos_down').get_parameter_value().integer_value #Pen height when the pen is down (plotting).
self.ad.options.pen_pos_up = self.get_parameter('axidraw_pen_pos_up').get_parameter_value().integer_value #Pen height when the pen is up. self.ad.options.pen_pos_up = self.get_parameter('axidraw_pen_pos_up').get_parameter_value().integer_value #Pen height when the pen is up.
self.ad.options.pen_rate_lower = self.get_parameter('axidraw_pen_rate_lower').get_parameter_value().integer_value # Speed of lowering the pen-lift motor. self.ad.options.pen_rate_lower = self.get_parameter('axidraw_pen_rate_lower').get_parameter_value().integer_value # Speed of lowering the pen-lift motor.