m1ngsama/robot_arm
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fix(arm_main): remove dead plt import, path_history leak, fix OFFSET init

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- Delete `import matplotlib.pyplot as plt` (never used, ~100ms startup cost)
- Delete `self.path_history` list and the redundant FK call in `_send_and_audit`
  that fed it — free FK invocation per motion step with zero readers
- Init `self.OFFSET_Y/Z` from `config.*` directly instead of hardcoding 0.0
- Remove redundant `set_correction` + `set_damping_params` calls from
  `AutoGraspSystem.__init__` and `__main__` (both now duplicate what `__init__` does)

Closes #8
This commit is contained in:
m1ngsama 2026-02-20 21:45:04 +08:00
parent 1d31dc5b96
commit cb452ad5e4
1 changed files with 3 additions and 15 deletions
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18
arm_main.py
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@ -3,7 +3,6 @@ from collections import deque
import math import math
import time import time
import matplotlib.pyplot as plt
import numpy as np import numpy as np
import serial import serial
from scipy.optimize import minimize from scipy.optimize import minimize
@ -16,12 +15,10 @@ class RobotArmUltimate:
self.L1, self.L2, self.L3, self.L4 = 70.0, 75.0, 50.0, 130.0 self.L1, self.L2, self.L3, self.L4 = 70.0, 75.0, 50.0, 130.0
self.current_servos_logic = np.array([90.0, 90.0, 90.0, 90.0]) self.current_servos_logic = np.array([90.0, 90.0, 90.0, 90.0])
self.last_sent_servos = np.array([0.0, 0.0, 0.0, 0.0]) self.last_sent_servos = np.array([0.0, 0.0, 0.0, 0.0])
self.path_history = []
# --- 2. Tilt correction offsets --- # --- 2. Tilt correction offsets (loaded from config; tune via OFFSET_Y/OFFSET_Z env vars) ---
# Increase OFFSET_Y if end-effector droops during horizontal moves self.OFFSET_Y = config.OFFSET_Y
self.OFFSET_Y = 0.0 self.OFFSET_Z = config.OFFSET_Z
self.OFFSET_Z = 0.0
# --- 3. Damping parameters --- # --- 3. Damping parameters ---
self.buffer_size = config.DAMPING_BUFFER_SIZE self.buffer_size = config.DAMPING_BUFFER_SIZE
@ -103,8 +100,6 @@ class RobotArmUltimate:
self.last_sent_servos = s_hardware.astype(int) self.last_sent_servos = s_hardware.astype(int)
self.current_servos_logic = s_logic_final self.current_servos_logic = s_logic_final
_, _, pts = self.forward_kinematics(*s_logic_final)
self.path_history.append(pts)
def move_line(self, start_xyz, end_xyz, p_start=-90, p_end=-90, duration=3.0): def move_line(self, start_xyz, end_xyz, p_start=-90, p_end=-90, duration=3.0):
"""S-Curve trajectory planning with adaptive FPS based on distance.""" """S-Curve trajectory planning with adaptive FPS based on distance."""
@ -154,13 +149,6 @@ class RobotArmUltimate:
if __name__ == "__main__": if __name__ == "__main__":
arm = RobotArmUltimate() # uses config.SERIAL_PORT / SERIAL_BAUD arm = RobotArmUltimate() # uses config.SERIAL_PORT / SERIAL_BAUD
arm.set_damping_params(
buffer_size=config.DAMPING_BUFFER_SIZE,
max_speed=config.DAMPING_MAX_SPEED,
damping_factor=config.DAMPING_FACTOR,
)
arm.set_correction(offset_y=config.OFFSET_Y, offset_z=config.OFFSET_Z)
p_standby = np.array([110, 100, 20]) p_standby = np.array([110, 100, 20])
p_pick1 = np.array([210, 110, 20]) p_pick1 = np.array([210, 110, 20])
p_pick2 = np.array([210, -110, 20]) p_pick2 = np.array([210, -110, 20])