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hotfix for lizard issue #59 #157

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Aug 26, 2024
Merged

hotfix for lizard issue #59 #157

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be79bd0
hotfix for lizard issue #59
Johannes-Thiel Aug 20, 2024
8c13246
remove unnessecary ;
Johannes-Thiel Aug 20, 2024
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28 changes: 14 additions & 14 deletions field_friend/hardware/chain_axis.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,44 +153,44 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
bool {name}_resetting = false

when {name}_ref_r_is_referencing and {name}_ref_t_stop_enabled and {name}_ref_t.level == 1 then
{name}.stop();
{name}.stop()
end

when {name}_ref_r_is_referencing and !{name}_ref_t_stop_enabled and {name}_ref_t.level == 0 then
{name}.stop();
{name}.stop()
end

when {name}_ref_l_is_referencing and {name}_ref_t_stop_enabled and {name}_ref_t.level == 1 then
{name}.stop();
{name}.stop()
end

when {name}_ref_l_is_referencing and !{name}_ref_t_stop_enabled and {name}_ref_t.level == 0 then
{name}.stop();
{name}.stop()
end

when {name}_ref_r_return and {name}_ref_t.level == 1 then
{name}_ref_t_stop_enabled = true;
{name}_ref_t_stop_enabled = true
end

when {name}_ref_r_return and {name}_ref_t_stop_enabled and {name}_ref_t.level == 0 then
{name}.stop();
{name}_ref_r_return = false;
{name}_ref_t_stop_enabled = false;
{name}.stop()
{name}_ref_r_return = false
{name}_ref_t_stop_enabled = false
end

when {name}_ref_l_return and {name}_ref_t.level == 1 then
{name}_ref_t_stop_enabled = true;
{name}_ref_t_stop_enabled = true
end

when {name}_ref_l_return and {name}_ref_t_stop_enabled and {name}_ref_t.level == 0 then
{name}.stop();
{name}_ref_l_return = false;
{name}_ref_t_stop_enabled = false;
{name}.stop()
{name}_ref_l_return = false
{name}_ref_t_stop_enabled = false
end

when {name}_resetting and {name}_ref_t.level == 0 then
{name}.stop();
{name}_resetting = false;
{name}.stop()
{name}_resetting = false
end
''')
core_message_fields = [
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32 changes: 16 additions & 16 deletions field_friend/hardware/tornado.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,36 +147,36 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
{name}_motor_z.reversed = {'true' if is_z_reversed else 'false'}
{name}_motor_turn.reversed = {'true' if is_turn_reversed else 'false'}
{name}_end_top = {expander.name + "." if end_stops_on_expander or end_top_pin_expander and expander else ""}Input({end_top_pin})
{name}_end_top.inverted = true;
{name}_end_top.inverted = true
{name}_end_bottom = {expander.name + "." if end_stops_on_expander or end_bottom_pin_expander and expander else ""}Input({end_bottom_pin})
{name}_end_bottom.inverted = true;
{name}_end_bottom.inverted = true
{name}_ref_motor = {expander.name + "." if end_stops_on_expander or ref_motor_pin_expander and expander else ""}Input({ref_motor_pin})
{name}_ref_motor.inverted = true;
{name}_ref_motor.inverted = true
{name}_ref_gear = {expander.name + "." if end_stops_on_expander or ref_gear_pin_expander and expander else ""}Input({ref_gear_pin})
{name}_ref_gear.inverted = false;
{name}_ref_gear.inverted = false
{name}_ref_knife_stop = {expander.name + "." if end_stops_on_expander or ref_knife_stop_pin_expander and expander else ""}Input({ref_knife_stop_pin})
{name}_ref_knife_stop.inverted = false;
{name}_ref_knife_stop.inverted = false
{name}_ref_knife_ground = {expander.name + "." if end_stops_on_expander or ref_knife_ground_pin_expander and expander else ""}Input({ref_knife_ground_pin})
{name}_ref_knife_ground.inverted = true;
{name}_ref_knife_ground.inverted = true
{name}_z = {expander.name + "." if motors_on_expander and expander else ""}MotorAxis({name}_motor_z, {name + "_end_bottom" if is_z_reversed else name + "_end_top"}, {name + "_end_top" if is_z_reversed else name + "_end_bottom"})

bool {name}_is_referencing = false;
bool {name}_ref_motor_enabled = false;
bool {name}_ref_gear_enabled = false;
bool {name}_is_referencing = false
bool {name}_ref_motor_enabled = false
bool {name}_ref_gear_enabled = false
when {name}_ref_motor_enabled and {name}_is_referencing and {name}_ref_motor.level == 0 then
{name}_motor_turn.speed(0);
{name}_motor_turn.speed(0)
end
when {name}_ref_gear_enabled and {name}_is_referencing and {name}_ref_gear.level == 1 then
{name}_motor_turn.speed(0);
{name}_motor_turn.speed(0)
end
bool {name}_knife_ground_enabled = false;
bool {name}_knife_stop_enabled = false;
bool {name}_knife_ground_enabled = false
bool {name}_knife_stop_enabled = false
when {name}_knife_ground_enabled and {name}_ref_knife_ground.level == 1 then
{name}_motor_z.off();
{name}_motor_z.off()
end
when {name}_knife_stop_enabled and {name}_ref_knife_stop.level == 1 then
en3.off();
{name}_knife_stop_enabled = false;
en3.off()
{name}_knife_stop_enabled = false
end
''') # tornado axis references in positive direction, in contrast to all other axis
core_message_fields = [
Expand Down
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