playgrounds/integration_test.py

@@ -12,7 +12,6 @@ from robot_control.src.robot.pump_controller import PumpController
 from robot_control.src.api.gpio import PiGPIO, MockGPIO
 from robot_control.src.robot.mag_distributor import MagDistributor
 
-
 """
 This is a test script for the loader system.
 It initializes the robot controller, vision system, and I2C handler,

robot_control/config/config.yaml

@@ -30,8 +30,8 @@ measurement_devices:
 feeder:
   robot_pos: [23, 720, 47]
   mag_pos: 
-    pos_mm: 45
-    rot_deg: 153
+    pos_mm: 46
+    rot_deg: 154
   min_voltage: 2.0
   max_num_cells: 10
 

robot_control/src/robot/mag_distributor.py

@@ -180,7 +180,7 @@ class MagDistributor:
             if self.mag_dist_sensor_pin and self.gpio.get_pin(self.mag_dist_sensor_pin):
                 pos = self.config.feeder.mag_pos
                 # feeder, feeder
-                self.move_mag_distributor_at_pos(pos.pos_mm, self.mag_dist_servo_angle_feeder, 200)
+                self.move_mag_distributor_at_pos(pos.pos_mm, self.mag_dist_servo_angle_feeder, 150)
                 time.sleep(0.5)
                 # feeder, neutral
                 self.move_mag_distributor_at_pos(pos.pos_mm, self.mag_dist_servo_angle_neutral, 1000)