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chore: udpate simulation css and settigns for instanciator
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alberto-abarzua committed Nov 17, 2023
1 parent 1f26195 commit fa3375c
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Showing 2 changed files with 3 additions and 9 deletions.
4 changes: 2 additions & 2 deletions frontend/src/views/MainView.jsx
Original file line number Diff line number Diff line change
Expand Up @@ -18,13 +18,13 @@ export default function Home() {
<ActionsPanel></ActionsPanel>
</div>
<div className="relative box-border flex h-full w-full flex-col items-start justify-start bg-slate-50 lg:w-6/12">
<div className="relative flex h-2/5 w-full">
<div className="relative flex h-1/2 w-full">
<ArmSimulation></ArmSimulation>
<div className="absolute right-0">
<ArmStatus></ArmStatus>
</div>
</div>
<div className="relative flex h-3/5 w-full">
<div className="relative flex h-1/2 w-full">
<ControlPanel></ControlPanel>
</div>
</div>
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8 changes: 1 addition & 7 deletions instanciator/backend/src/config/web_arm.toml
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
title = "Robot arm configuration"
[joint_configuration]
speed_rad_per_s = 0.35
speed_rad_per_s = 2.0
steps_per_rev_motor_axis = 800 # Microstepping
homing_direction = 1 # 1 or -1
max_angle_rad = 7.0
Expand Down Expand Up @@ -49,7 +49,6 @@ title = "Robot arm configuration"
homing_direction = -1 # 1 or -1
conversion_rate_axis_joint = 9.7 # Gear ratio
homing_offset_rad = 0 # Offset from home position
speed_rad_per_s = 0.4
[joints.driver]
type = "stepper"
dir_pin = 14
Expand All @@ -69,7 +68,6 @@ title = "Robot arm configuration"
dir_inverted = -1
conversion_rate_axis_joint = 7.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.05
[joints.driver]
type = "stepper"
dir_pin = 5
Expand All @@ -83,7 +81,6 @@ title = "Robot arm configuration"
homing_direction = 1
conversion_rate_axis_joint = 15.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.2
steps_per_rev_motor_axis = 400 # Microstepping
[joints.driver]
type = "stepper"
Expand All @@ -97,7 +94,6 @@ title = "Robot arm configuration"
name = "joint_4"
homing_direction = 1
conversion_rate_axis_joint = 5.0
speed_rad_per_s = 0.3
homing_offset_rad = 0.0
dir_inverted = -1
[joints.driver]
Expand All @@ -113,7 +109,6 @@ title = "Robot arm configuration"
homing_direction = 1
conversion_rate_axis_joint = 5.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.4
dir_inverted = -1
[joints.driver]
type = "stepper"
Expand All @@ -129,7 +124,6 @@ title = "Robot arm configuration"
conversion_rate_axis_joint = 1.0
homing_offset_rad = 0.0
dir_inverted = -1
speed_rad_per_s = 0.4
[joints.driver]
type = "stepper"
dir_pin = 23
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