update scara form
@@ -49,10 +49,10 @@ void fromRC100(uint16_t data)
SCARA.setMove(TOOL, OM_MATH::makeVector3(0.0, 0.007f, 0.0), 0.16f);
else if (data & RC100_BTN_R)
SCARA.setMove(TOOL, OM_MATH::makeVector3(0.0, -0.007f, 0.0), 0.16f);
- else if (data & RC100_BTN_1)
- SCARA.setMove(TOOL, OM_MATH::makeVector3(0.0, 0.0, 0.007f), 0.16f);
- else if (data & RC100_BTN_3)
- SCARA.setMove(TOOL, OM_MATH::makeVector3(0.0, 0.0, -0.007f), 0.16f);
+ // else if (data & RC100_BTN_1)
+ // SCARA.setMove(TOOL, OM_MATH::makeVector3(0.0, 0.0, 0.007f), 0.16f);
+ // else if (data & RC100_BTN_3)
+ // SCARA.setMove(TOOL, OM_MATH::makeVector3(0.0, 0.0, -0.007f), 0.16f);
else if (data & RC100_BTN_2)
{
float grip_value = SCARA.getComponentToolValue(TOOL) + 0.030f;
@@ -73,7 +73,6 @@ void fromRC100(uint16_t data)
{
std::vector<float> goal_position;
- goal_position.push_back(0.0f);
goal_position.push_back(-60.0f * DEG2RAD);
goal_position.push_back(20.0f * DEG2RAD);
goal_position.push_back(40.0f * DEG2RAD);
@@ -87,7 +86,6 @@ void fromRC100(uint16_t data)
goal_position.push_back(0.0f);
goal_position.push_back(0.0f);
goal_position.push_back(0.0f);
- goal_position.push_back(0.0f);
SCARA.jointMove(goal_position, 1.0f);
}
