GRBL Debub, Feeder Pos 45

playgrounds/integration_test.py

@@ -124,11 +124,11 @@ class LoaderSystem:
             self.mag_distributor.mag_to_feeder()
             await self.feeder_queue.put(1)
             await self.controller.prepare_feeder_cell()
-            await self.controller.pick_cell_from_feeder()
-            cell = Cell(id=1, status=CellStatus.WAITING)
-            await self.controller.insert_cell_to_slot(cell, self.test_drop_slot)
-            await self.controller.pick_cell_from_slot(self.test_pickup_slot)
-            await self.controller.dropoff_cell()
+            # await self.controller.pick_cell_from_feeder()
+            # cell = Cell(id=1, status=CellStatus.WAITING)
+            # await self.controller.insert_cell_to_slot(cell, self.test_drop_slot)
+            # await self.controller.pick_cell_from_slot(self.test_pickup_slot)
+            # await self.controller.dropoff_cell()
 
             # await wait_for_enter()
             # # Feeding with MagDistributor

robot_control/config/config.yaml

@@ -30,7 +30,7 @@ measurement_devices:
 feeder:
   robot_pos: [23, 720, 47]
   mag_pos: 
-    pos_mm: 46
+    pos_mm: 45
     rot_deg: 153
   min_voltage: 2.0
   max_num_cells: 10
@@ -91,8 +91,8 @@ mqtt:
   keepalive: 60
 
 grbl:
-  port: /dev/ttyUSB0 # or debug
-  #port: debug
+  #port: /dev/ttyUSB0 # or debug
+  port: debug
   baudrate: 115200
 
 vision: