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Changes following pico swap and mechanism changes

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Pimpest
2026-04-16 22:21:47 +02:00
parent ae77335ef9
commit c431a7f8d5
3 changed files with 9 additions and 9 deletions
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12
toid_interaction/toid_interaction/interaction_node.py
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@@ -63,21 +63,21 @@ class InteracitionNode(Node):
return Empty.Response()
okreni(5)
zupcanik = ZupcanikAction(self.st_motor_device_name)
zupcanik.zupcanik(1, -1010, 25)
zupcanik.zupcanik(1, -1015, 25)
self.step = 1
return response
def sequence2_cb(self, request: SendString.Request, response: SendString.Response):
if self.step != 1:
return Empty.Response()
return SendString.Response()
zidovi = Zidovi(self.st_motor_device_name)
zidovi.zidovi(0, 1500, 600, 300, 100, 120)
zidovi.zidovi(1, 1500, 600, 210, 130, 130)
okreni_niz(request.text)
zidovi.zidovi(0, 1500, 450, 150, 100, 120)
zidovi.zidovi(0, 1500, 420, 30, 130, 130)
self.step = 2
return response
@@ -88,8 +88,8 @@ class InteracitionNode(Node):
zupcanik = ZupcanikAction(self.st_motor_device_name)
zidovi = Zidovi(self.st_motor_device_name)
zupcanik.zupcanik(1, 1010, 25)
zidovi.zidovi(0, 1500, 150, 150, 100, 120)
zupcanik.zupcanik(1, 1015, 25)
zidovi.zidovi(0, 1500, 180, 180, 130, 130)
okreni(5)
self.step = 0
return response

2
toid_interaction/toid_interaction/mechanism/sekvenca_2026.py
View File

@@ -8,7 +8,7 @@ import time
import serial
import serial.tools.list_ports as list_ports
SERIAL_ID = "50443405C8C3B21C"
SERIAL_ID = "259B221729115453"
def okreni(i):