Add limit checks to arm UI
Constrain the relative angle between the proximal and distal joint.
Also constrain roll angle.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I195bdac60081ceb2e3cf39cf3546a886b004e6c6
diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index 72dc02f..b21f548 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -5,22 +5,22 @@
neutral = to_theta_with_circular_index_and_roll(joint_center[0],
joint_center[1] + l2 - l1,
0.0,
- circular_index=-1)
+ circular_index=1)
-neutral_to_pickup_1 = to_theta_with_circular_index(0.3, 0.6, circular_index=-1)
-neutral_to_pickup_2 = to_theta_with_circular_index(0.3, 0.4, circular_index=-1)
+neutral_to_pickup_1 = to_theta_with_circular_index(0.3, 0.6, circular_index=1)
+neutral_to_pickup_2 = to_theta_with_circular_index(0.3, 0.4, circular_index=1)
pickup_pos = to_theta_with_circular_index_and_roll(0.6,
0.1,
0.0,
- circular_index=-1)
+ circular_index=1)
neutral_to_pickup_control_alpha_rolls = [(0.33, 0.0), (.67, 0.0)]
-neutral_to_score_1 = to_theta_with_circular_index(-0.4, 1.2, circular_index=-1)
-neutral_to_score_2 = to_theta_with_circular_index(-0.7, 1.2, circular_index=-1)
+neutral_to_score_1 = to_theta_with_circular_index(-0.4, 1.2, circular_index=1)
+neutral_to_score_2 = to_theta_with_circular_index(-0.7, 1.2, circular_index=1)
score_pos = to_theta_with_circular_index_and_roll(-1.0,
1.2,
0.0,
- circular_index=-1)
+ circular_index=1)
neutral_to_score_control_alpha_rolls = [(0.33, 0.0), (.67, 0.0)]
# TODO(Max): Add real paths for arm.