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F13 work_x and demo height adjustment #162

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merged 2 commits into from
Aug 28, 2024
Merged

F13 work_x and demo height adjustment #162

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575aa3a
adjust demo height
pascalzauberzeug Aug 28, 2024
9c9f7a0
wip: set work_x for f13
pascalzauberzeug Aug 28, 2024
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2 changes: 1 addition & 1 deletion config/ff13_config_rb36/params.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
'thooth_count': 15,
'pitch': 0.033,
'wheel_distance': 0.47,
'work_x': 0.0125,
'work_x': 0.035,
'drill_radius': 0.025,
'antenna_offset': 0.205,
'tool': 'tornado',
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2 changes: 1 addition & 1 deletion field_friend/automations/puncher.py
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Expand Up @@ -146,7 +146,7 @@ async def tornado_drill(self, angle: float = 180, turns: float = 2, with_open_dr
rosys.notify('homing failed!', type='negative')
raise PuncherException('homing failed')
await rosys.sleep(0.5)
await self.field_friend.z_axis.move_down_until_reference(min_position=-0.065 if self.is_demo else None)
await self.field_friend.z_axis.move_down_until_reference(min_position=-0.058 if self.is_demo else None)

await self.field_friend.z_axis.turn_knifes_to(angle)
await rosys.sleep(2)
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