From 489d691bb58c54db1a6d59a62ff65f83c02d0979 Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 11:36:00 -0400
Subject: [PATCH] ur10 debugiinh

---
 .../assembly/python-urx/ur10test.py              | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
index 9a44d86..e2866ee 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -134,7 +134,7 @@ for edge in setup["edges"]:
     a = globalSetup["a1"]
 
     # move to pickup locations from reference
-    siegfried_trans.pos.z -= globalSetup["edgeRelativeDistance"]["z"]
+    siegfried_trans.pos.z -= globalSetup["nodeRelativeDistance"]["z"]
     siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     time.sleep(sleepTime)
 
@@ -145,7 +145,7 @@ for edge in setup["edges"]:
     # time.sleep(sleepTime1)
 
     # move to pickup locations from reference
-    siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
+    siegfried_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
     siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     time.sleep(sleepTime)
 
@@ -161,22 +161,22 @@ for edge in setup["edges"]:
     
     #move siegfried (struts) to S1, then to build level 0.5, from reference location
     if node["rx"]<0.1 : 
-      siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["y"]))+node["y"]*latticePitch["y"]
-      siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"]))+node["x"]*latticePitch["x"]
+      siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["y"]))+edge["y"]*latticePitch["y"]
+      siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["x"]*latticePitch["x"]
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
-      siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
+      siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"])-edge["z"]*latticePitch["z"]
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
 
       siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
       time.sleep(sleepTime1)
 
-      siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
+      siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])-edge["z"]*latticePitch["z"]
     else:
       #move siegfried (struts) to S4, then to build level 0.5, from reference location
       #uses movej for the rotation and to get close to the build plate, to avoid sketchiness
       siegfried.movej(strut90_siegfried_j, acc = a, vel = v)
       siegfried_trans = siegfried.get_pose()
-      siegfried_trans.pos.y -= latticePitch["y"]*(node["y"]-0.5)
+      siegfried_trans.pos.y -= latticePitch["y"]*(edge["y"]-0.5)
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
       siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
@@ -185,7 +185,7 @@ for edge in setup["edges"]:
       time.sleep(sleepTime1)
 
       #use movej to go back to origin point after moving back up
-      siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])
+      siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
 
 
-- 
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