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Improve homing

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This commit is contained in:
Nicolas Hiillos
2023-01-17 12:29:42 +02:00
parent afd42c3ede
commit d7aa2c2403
1 changed files with 2 additions and 2 deletions
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4
src/axidraw_controller/src/py/axidraw_serial.py
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@@ -69,7 +69,6 @@ class AxidrawSerial(Node):
return response return response
def go_home(self): def go_home(self):
self.wait_ready()
self.status["motion"] = "busy" self.status["motion"] = "busy"
if self.status["serial"] == "ready": if self.status["serial"] == "ready":
self.ad.moveto(0,0) self.ad.moveto(0,0)
@@ -82,9 +81,10 @@ class AxidrawSerial(Node):
self.status["motion"] = "ready" self.status["motion"] = "ready"
def wait_ready(self): def wait_ready(self):
rate = node.create_rate(2) #2Hz rate = self.create_rate(2) #2Hz
while self.status["motion"] != "ready": while self.status["motion"] != "ready":
rate.sleep() rate.sleep()
pass
def move_callback(self, msg): def move_callback(self, msg):
self.set_busy() self.set_busy()