Merge pull request #23 from AD-SDL/rotation_fix

RyanTheRobothead · web-flow · commit eee87396e0c0 · 2026-02-05T11:39:07.000-06:00
Bug fix for rotations with pick plate
diff --git a/.gitignore b/.gitignore
@@ -161,3 +161,4 @@ cython_debug/
 #.idea/
 
 .vscode
+.DS_Store
diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
@@ -565,7 +565,7 @@ def check_incorrect_plate_orientation(
         )
         # Checking yaw angle
         if goal_rotation != 0 and cartesian_goal[3] > -10 and cartesian_goal[3] < 10:
-            goal_location = self.set_plate_rotation(goal_location, -goal_rotation)
+            goal_location = self.set_plate_rotation(goal_location, goal_rotation)
 
         return goal_location
 

Original file line number	Diff line number	Diff line change
`@@ -565,7 +565,7 @@ def check_incorrect_plate_orientation(`
`565`	`565`	`)`
`566`	`566`	`# Checking yaw angle`
`567`	`567`	`if goal_rotation != 0 and cartesian_goal[3] > -10 and cartesian_goal[3] < 10:`
`568`		`- goal_location = self.set_plate_rotation(goal_location, -goal_rotation)`
	`568`	`+ goal_location = self.set_plate_rotation(goal_location, goal_rotation)`
`569`	`569`
`570`	`570`	`return goal_location`
`571`	`571`