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Fix unnecessary axidraw pen lift

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This commit is contained in:
Nicolas Hiillos
2023-03-31 12:13:35 +03:00
parent a9ab26aeed
commit cb1923e56a
3 changed files with 12 additions and 4 deletions
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2
src/axidraw_controller/src/cpp/axidraw_controller.cpp
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@@ -162,7 +162,7 @@ class AxidrawController : public RobotController
this->penup_pub->publish(std_msgs::msg::Empty()); this->penup_pub->publish(std_msgs::msg::Empty());
else else
{ {
this->pendown_pub->publish(std_msgs::msg::Empty()); //this->pendown_pub->publish(std_msgs::msg::Empty());
while (i + count + 1 < points.size() && points[i + count + 1].z <= 0) while (i + count + 1 < points.size() && points[i + count + 1].z <= 0)
{ {
count++; count++;

11
src/axidraw_controller/src/py/axidraw_serial.py
View File

@@ -42,6 +42,7 @@ class AxidrawSerial(Node):
status = { status = {
"serial": "not ready", "serial": "not ready",
"motion": "waiting", "motion": "waiting",
"pen": "up",
} }
def init_serial(self, port): def init_serial(self, port):
@@ -63,6 +64,7 @@ class AxidrawSerial(Node):
self.ad.update() # Process changes to options self.ad.update() # Process changes to options
self.status["serial"] = "ready" self.status["serial"] = "ready"
self.status["motion"] = "ready" self.status["motion"] = "ready"
self.status["pen"] = "up"
return True return True
def __init__(self): def __init__(self):
@@ -166,7 +168,9 @@ class AxidrawSerial(Node):
self.get_logger().info("Received penup: {}".format(msg)) self.get_logger().info("Received penup: {}".format(msg))
self.ad.penup() if self.status['pen'] == "down":
self.ad.penup()
self.status['pen'] = "up"
self.set_ready() self.set_ready()
def pendown_callback(self, msg): def pendown_callback(self, msg):
@@ -179,7 +183,9 @@ class AxidrawSerial(Node):
self.get_logger().info("Received pendown: {}".format(msg)) self.get_logger().info("Received pendown: {}".format(msg))
self.ad.pendown() if self.status['pen'] == "up":
self.ad.pendown()
self.status['pen'] = "down"
self.set_ready() self.set_ready()
def stroke_callback(self, msg): def stroke_callback(self, msg):
@@ -194,6 +200,7 @@ class AxidrawSerial(Node):
path = [ [p.x,p.y] for p in msg.points ] path = [ [p.x,p.y] for p in msg.points ]
self.ad.draw_path(path) self.ad.draw_path(path)
self.status['pen'] = "up"
self.set_ready() self.set_ready()

3
src/drawing_controller/drawing_controller/svg_processor.py
View File

@@ -174,7 +174,7 @@ class SVGProcessor():
def remove_redundant(self, motion): def remove_redundant(self, motion):
# Remove points that are too close to the previous point, specified by the tolerance # Remove points that are too close to the previous point, specified by the tolerance
mm = [] mm = []
tolerance = 0.001 tolerance = 0.0001
prev = (-1, -1, 0) prev = (-1, -1, 0)
for i, p in enumerate(motion): for i, p in enumerate(motion):
x = p[0] x = p[0]
@@ -215,6 +215,7 @@ class SVGProcessor():
tmp.append(list(p)[:-1]) tmp.append(list(p)[:-1])
lastup = penup lastup = penup
# Handle anything left in tmp
if (len(tmp) > 0): if (len(tmp) > 0):
out += sf(tmp) out += sf(tmp)