Quickstep gesture tweaks
This CL fixes a couple little issues with the Quickstep gesture
First: don't use the user entered speed when lowering the robot
arm. This can cause the robot's safety cutoffs to engage if you
put in a high speed, since the robot thinks it's dropping to quickly.
This changes it to drop slowly, then use the user entered speed once
it's at the right Z height.
Second: I change the defaults to 60 speed and 30 passes which is
what we've been using. This way you don't have to specify
BUG=none
TEST=manual
Change-Id: I533a97a71bc32cbe8fa5c147dc5746c9a9016e8d
Signed-off-by: Charlie Mooney <charliemooney@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/315701
Reviewed-by: Shyh-In Hwang <josephsih@chromium.org>
diff --git a/quickstep_gesture.py b/quickstep_gesture.py
index c09e476..30362dd 100644
--- a/quickstep_gesture.py
+++ b/quickstep_gesture.py
@@ -14,9 +14,9 @@
parser.add_option('-n', '--name', dest='name', default='unknown_device',
help='The name of this DUT. This is used by the robot to '
'store calibration info')
- parser.add_option('--num_passes', dest='num_passes', default=32, type=int,
+ parser.add_option('--num_passes', dest='num_passes', default=30, type=int,
help='How many passes to make over the laser')
- parser.add_option('-s', '--speed', dest='speed', default=30,
+ parser.add_option('-s', '--speed', dest='speed', default=60,
type=int, help='How fast to move the finger (0-100)')
(options, args) = parser.parse_args()