fix typo

one more :facepalm: remove extra dep fix typo
misko · Feb 12, 2024 · 209ff61 · 209ff61
1 parent cb7142f
commit 209ff61
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Showing 2 changed files with 10 additions and 11 deletions.
diff --git a/spf/grbl/grbl_interactive.py b/spf/grbl/grbl_interactive.py
@@ -513,12 +513,13 @@ def move_to(self, points):  # takes in a list of points equal to length of map
         time.sleep(0.01)
 
     def set_current_position(self, motor_channel, steps):
+        a_motor_steps, b_motor_steps = steps
         motors = self.channel_to_motor_map[motor_channel]
         cmd = "G92 %s%0.2f %s%0.2f" % (
             motors[0],
-            steps[0],
+            b_motor_steps,
             motors[1],
-            steps[1],
+            a_motor_steps,
         )
         time.sleep(0.01)
         self.s.write((cmd + "\n").encode())  # Send g-code block to grbl

diff --git a/spf/grbl/restore_from_power_loss.py b/spf/grbl/restore_from_power_loss.py
@@ -5,7 +5,7 @@
 import numpy as np
 
 from spf.dataset.spf_dataset import SessionsDatasetRealV2
-from spf.grbl.grbl_interactive import get_default_dynamics, get_default_gm
+from spf.grbl.grbl_interactive import get_default_gm
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
@@ -40,21 +40,19 @@
         assert np.isclose(rx0, rx1).all()
 
         # get the emitter
-        tx0 = ds[0]["source_positions_at_t"][-1, 0]
-        tx1 = ds[1]["source_positions_at_t"][-1, 0]
+        tx0 = ds[0]["source_positions_at_t"][last_valid_idx, 0]
+        tx1 = ds[1]["source_positions_at_t"][last_valid_idx, 0]
         assert np.isclose(tx0, tx1, rtol=0.1, atol=0.1).all()
 
         print(f"Last valid idx: {last_valid_idx}, rx-pos:{rx0} tx-pos:{tx0}")
 
-        dynamics = get_default_dynamics()
-
         gm = get_default_gm(args.serial)
-        gm.set_current_position(
+        gm.controller.set_current_position(
             motor_channel=ds.get_yaml_config()["emitter"]["motor_channel"],
-            steps=dynamics.to_steps(tx0),
+            steps=gm.controller.dynamics.to_steps(tx0),
         )
 
-        gm.set_current_position(
+        gm.controller.set_current_position(
             motor_channel=ds.get_yaml_config()["receivers"][0]["motor_channel"],
-            steps=dynamics.to_steps(dynamics.to_steps(rx0)),
+            steps=gm.controller.dynamics.to_steps(rx0),
         )