implement work_y

zauberzeug · Sep 9, 2024 · c2c382c · c2c382c
1 parent fd54f8b
commit c2c382c
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Showing 5 changed files with 10 additions and 2 deletions.
diff --git a/config/f15_config_f15/params.py b/config/f15_config_f15/params.py
@@ -5,6 +5,7 @@
     'wheel_distance': 0.47,
     'antenna_offset': 0.205,
     'work_x': 0.147,
+    'work_y': 0.0,
     'drill_radius': 0.025,
     'tool': 'weed_screw',
 }
diff --git a/field_friend/automations/puncher.py b/field_friend/automations/puncher.py
@@ -63,6 +63,7 @@ async def punch(self,
                     turns: float = 2.0,
                     with_open_tornado: bool = False,
                     ) -> None:
+        y += self.field_friend.WORK_Y
         self.log.info(f'Punching at {y} with depth {depth}...')
         rest_position = 'reference'
         if self.field_friend.y_axis is None or self.field_friend.z_axis is None:
@@ -120,7 +121,7 @@ async def clear_view(self) -> None:
             await self.field_friend.y_axis.return_to_reference()
             return
         elif isinstance(self.field_friend.y_axis, Axis):
-            if isinstance(self.field_friend.z_axis,Axis):
+            if isinstance(self.field_friend.z_axis, Axis):
                 if self.field_friend.z_axis.position != 0:
                     await self.field_friend.z_axis.return_to_reference()
             y = self.field_friend.y_axis.min_position if self.field_friend.y_axis.position <= 0 else self.field_friend.y_axis.max_position

diff --git a/field_friend/hardware/field_friend.py b/field_friend/hardware/field_friend.py
@@ -19,6 +19,7 @@ class FieldFriend(rosys.hardware.Robot):
     WHEEL_DIAMETER = 0.041 * 17 / np.pi
     M_PER_TICK = WHEEL_DIAMETER * np.pi / MOTOR_GEAR_RATIO
     WORK_X = 0.118
+    WORK_Y = 0.0
     DRILL_RADIUS = 0.025
     CHOP_RADIUS = 0.07
     WORK_X_CHOP = 0.04

diff --git a/field_friend/hardware/field_friend_hardware.py b/field_friend/hardware/field_friend_hardware.py
@@ -45,6 +45,8 @@ def __init__(self) -> None:
         implement: str = config_params['tool']
         if implement in ['tornado', 'weed_screw', 'none']:
             self.WORK_X: float = config_params['work_x']
+            if 'work_y' in config_params:
+                self.WORK_Y: float = config_params['work_y']
             self.DRILL_RADIUS: float = config_params['drill_radius']
         elif implement in ['dual_mechanism']:
             self.WORK_X_CHOP: float = config_params['work_x_chop']
@@ -59,7 +61,8 @@ def __init__(self) -> None:
 
         communication = rosys.hardware.SerialCommunication()
         if 'enable_esp_on_startup' in config_robotbrain['robot_brain']:
-            robot_brain = rosys.hardware.RobotBrain(communication,enable_esp_on_startup=config_robotbrain['robot_brain']['enable_esp_on_startup'])
+            robot_brain = rosys.hardware.RobotBrain(
+                communication, enable_esp_on_startup=config_robotbrain['robot_brain']['enable_esp_on_startup'])
         else:
             robot_brain = rosys.hardware.RobotBrain(communication)
         robot_brain.lizard_firmware.flash_params += config_robotbrain['robot_brain']['flash_params']

diff --git a/field_friend/hardware/field_friend_simulation.py b/field_friend/hardware/field_friend_simulation.py
@@ -29,6 +29,8 @@ def __init__(self, robot_id) -> None:
         tool = config_params['tool']
         if tool in ['tornado', 'weed_screw', 'none']:
             self.WORK_X = config_params['work_x']
+            if 'work_y' in config_params:
+                self.WORK_Y = config_params['work_y']
             self.DRILL_RADIUS = config_params['drill_radius']
         elif tool in ['dual_mechanism']:
             self.WORK_X_CHOP = config_params['work_x_chop']