Aggiornate calibrazioni, interfaccia e progetto

RoboGlue.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-10-23T11:42:08. -->
+<!-- Written by QtCreator 4.8.2, 2019-10-23T17:47:47. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

gui/roboglue_gui.cpp

@@ -306,7 +306,7 @@ void RoboGlue_GUI::on_btn_home_clicked() {
     QVariantMap param;
     modlog->debug("robotHome");
     param["action"] = "start";
-    param["execute"] = false;
+    param["execute"] = ui->chk_execute->isChecked();
     emit m->commonStatusChange();
     emit sendROScommand("HOME", param);
 }

gui/roboglue_gui.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1042</width>
+    <width>1108</width>
-    <height>766</height>
+    <height>760</height>
    </rect>
   </property>
   <property name="mouseTracking">
@@ -17,7 +17,7 @@
    <string>MainWindow</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QHBoxLayout" name="horizontalLayout_8">
+   <layout class="QVBoxLayout" name="verticalLayout_5">
     <item>
      <widget class="QTabWidget" name="tab_mainWindow">
       <property name="currentIndex">
@@ -1108,6 +1108,8 @@
                   </item>
                  </layout>
                 </item>
+                <item>
+                 <layout class="QHBoxLayout" name="horizontalLayout_8">
                   <item>
                    <widget class="QPushButton" name="btn_home">
                     <property name="text">
@@ -1115,6 +1117,15 @@
                     </property>
                    </widget>
                   </item>
+                  <item>
+                   <widget class="QCheckBox" name="chk_execute">
+                    <property name="text">
+                     <string>Execute</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
                </layout>
               </item>
              </layout>
@@ -1305,7 +1316,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1042</width>
+     <width>1108</width>
      <height>22</height>
     </rect>
    </property>
@@ -1327,12 +1338,12 @@
  <resources/>
  <connections/>
  <buttongroups>
-  <buttongroup name="grp_hilo"/>
   <buttongroup name="grp_mod"/>
   <buttongroup name="gpr_lock">
    <property name="exclusive">
     <bool>false</bool>
    </property>
   </buttongroup>
+  <buttongroup name="grp_hilo"/>
  </buttongroups>
 </ui>

roboglue.conf

@@ -12,30 +12,30 @@ connection\autoconnect=false
 connection\robotip=10.0.0.5
 connection\robotport=30002
 connection\robotretry=5
-kine\dhtable\1\dha=0
+kine\dhtable\1\dha=3.246e-321
-kine\dhtable\1\dhalpha=0
+kine\dhtable\1\dhalpha=6.91983159050874e-310
-kine\dhtable\1\dhd=0
+kine\dhtable\1\dhd=6.9198315899621e-310
-kine\dhtable\1\dhtheta=0
+kine\dhtable\1\dhtheta=6.9198315899621e-310
-kine\dhtable\2\dha=0
+kine\dhtable\2\dha=6.9198315903799e-310
-kine\dhtable\2\dhalpha=0
+kine\dhtable\2\dhalpha=3.56e-322
-kine\dhtable\2\dhd=0
+kine\dhtable\2\dhd=3.16e-322
-kine\dhtable\2\dhtheta=0
+kine\dhtable\2\dhtheta=6.91983159055775e-310
-kine\dhtable\3\dha=0
+kine\dhtable\3\dha=6.9198315906463e-310
-kine\dhtable\3\dhalpha=0
+kine\dhtable\3\dhalpha=5e-324
-kine\dhtable\3\dhd=0
+kine\dhtable\3\dhd=3.36e-322
-kine\dhtable\3\dhtheta=0
+kine\dhtable\3\dhtheta=8e-323
 kine\dhtable\4\dha=0
 kine\dhtable\4\dhalpha=0
-kine\dhtable\4\dhd=0
+kine\dhtable\4\dhd=6.91983159056645e-310
 kine\dhtable\4\dhtheta=0
-kine\dhtable\5\dha=0
+kine\dhtable\5\dha=1.63e-322
-kine\dhtable\5\dhalpha=0
+kine\dhtable\5\dhalpha=1.35e-321
 kine\dhtable\5\dhd=0
-kine\dhtable\5\dhtheta=0
+kine\dhtable\5\dhtheta=3.2e-322
-kine\dhtable\6\dha=0
+kine\dhtable\6\dha=6.9198315905554e-310
-kine\dhtable\6\dhalpha=0
+kine\dhtable\6\dhalpha=6.9198315903799e-310
 kine\dhtable\6\dhd=0
-kine\dhtable\6\dhtheta=0
+kine\dhtable\6\dhtheta=6.9198315899621e-310
 kine\dhtable\size=6
 kine\maxreach=@Variant(\0\0\0\x87?\x99\x99\x9a)
 kine\prefix=0