def GotNuts():
cap = capture()
p = cap.FindSingleWhiteBack()
#Not Found Object
print(p)
if p[2] == 0:
return False
else:
return True
def rollhead():
global arm_cul_position
rollband = -33
for i in range(10):
filepath = CheckPath()
cap = capture()
cap.StudyData(filepath)
clockwise = arm_cul_position[0] + rollband
angle_ctrl(0, clockwise)
time.sleep(0.5)
OriginalPosition()
def gotoCatchPosition():
global arm_cul_position
downLeft()
distance_high_limit = 6.8
distance_low_limit = 6.2
x_position_lmt = 25
y_position_lmt = 25
cap = capture()
p = [100, 100, 10]
while (abs(p[0]) >= x_position_lmt) or (abs(
p[1]) >= y_position_lmt) or (abs(p[2]) >= distance_high_limit):
p = cap.FindSingleWhiteBack()
if p[2] > 7:
angle_right = arm_cul_position[3] + 15
angle_m = arm_cul_position[1] + 16
angle_ctrl(3, angle_right)
angle_ctrl(1, angle_m)
elif p[2] > 6.6:
angle_right = arm_cul_position[3] + 5
angle_m = arm_cul_position[1] + 6
angle_ctrl(3, angle_right)
angle_ctrl(1, angle_m)
#elif p[2] ==0:
# print(p)
# break
else:
pass
#Base Position
angle_base = arm_cul_position[2] - p[1]
for i in range(3):
angle_ctrl(2, angle_base)
#Right Position
if arm_cul_position[3] > 1300:
angle_right = arm_cul_position[3] + int(p[0] / 2)
angle_left = arm_cul_position[4] + 5
else:
angle_right = arm_cul_position[3] - int(p[0] / 2)
angle_left = arm_cul_position[4] - 5
for i in range(3):
angle_ctrl(3, angle_right)
angle_ctrl(4, angle_left)
#distance Position
if p[2] < distance_low_limit:
UpArmByLeft(cap)
print(p)
print("end of arm")
def test3():
while True:
#taka a capture and search a face
cls = capture()
rect = cls.faceThread()
if rect is not None:
w = rect[0] + int(rect[3] / 2) - 160
h = rect[1] + int(rect[3] / 2) - 120
angle_w = arm_cul_position[5] - w
angle_h = arm_cul_position[1] - h
for i in range(3):
angle_ctrl(5, angle_w)
angle_ctrl(1, angle_h)
def MoveToTarget():
global arm_cul_position
gosa = 20
cap = capture()
p = [100, 100, 10]
while (abs(p[0]) >= gosa) or (abs(p[1]) >= gosa):
p = cap.FindSingleWhiteBack()
angle_w = arm_cul_position[2] - p[1]
for i in range(2):
angle_ctrl(2, angle_w)
angle_h = arm_cul_position[3] - int(p[0] / 2)
for i in range(2):
angle_ctrl(3, angle_h)
#print(p)
return 1
def gotoCatch():
global arm_cul_position
right_limit = 1300
sw = 1000
num = 2000
angle_right = arm_cul_position[3] + 220
angle_m = arm_cul_position[1] + 300
for i in range(3):
angle_ctrl(3, angle_right)
angle_ctrl(1, angle_m)
while True:
angle_right = arm_cul_position[3] + 11
angle_m = arm_cul_position[1] + 15
angle_ctrl(3, angle_right)
angle_ctrl(1, angle_m)
if angle_right > right_limit:
break
cls = capture()
if angle_right > 1000:
rect = cls.getPeanutsWithPic2(num)
else:
rect = cls.getPeanutsWithPic(num)
print(num)
num = num + 1
if rect is not None:
print("base")
print(rect[0])
if abs(rect[0]) > 1:
angle_base = arm_cul_position[2] - rect[0]
for i in range(3):
angle_ctrl(2, angle_base)
else:
pass
if abs(rect[1]) > 1:
print("middle")
print(rect[1])
angle_middle = arm_cul_position[1] - rect[1]
for i in range(3):
angle_ctrl(1, angle_middle)
else:
def findPeanuts():
#num = 1000
while True:
#taka a capture and search a peanuts
cls = capture()
rect = cls.getPeanuts()
#rect = cls.getPeanutsWithPic(num)
#num = num +1
if rect is not None:
print(rect[0])
print(rect[1])
if abs(rect[0]) > 1:
angle_w = arm_cul_position[2] - rect[0]
for i in range(3):
angle_ctrl(2,angle_w)
else:
pass
if abs(rect[1]) > 1:
angle_h = arm_cul_position[3] + rect[1]
for i in range(3):
angle_ctrl(3,angle_h)
else:
break
def Test01(num):
a = capture()
return a.captureTest(num)
def gotoPosition():
global arm_cul_position
hight_limit = 6.4
low_limit = 6.4
cls = capture()
lmt = 15
downLeft()
while True:
p = cls.FindSingleWhiteBack()
if p[2] == hight_limit:
break
#over low limit case
elif p[2] < low_limit:
UpArmByLeft(cls)
if p[2] > 7:
angle_right = arm_cul_position[3] + 50
angle_m = arm_cul_position[1] + 60
angle_ctrl(3, angle_right)
angle_ctrl(1, angle_m)
else:
angle_right = arm_cul_position[3] + 10
angle_m = arm_cul_position[1] + 13
angle_ctrl(3, angle_right)
angle_ctrl(1, angle_m)
if p[2] <= 6.7:
lmt = 12
time.sleep(0.2)
while True:
time.sleep(0.2)
p2 = cls.FindSingleWhiteBack()
print(p2)
if abs(p2[1]) > lmt:
angle_base = arm_cul_position[2] - p2[1]
for i in range(3):
angle_ctrl(2, angle_base)
if abs(p2[0]) > lmt:
if arm_cul_position[3] > 1300:
angle_right = arm_cul_position[3] + int(p2[0] / 2)
else:
angle_right = arm_cul_position[3] - int(p2[0] / 2)
for i in range(3):
angle_ctrl(3, angle_right)
if abs(p2[0]) <= lmt and abs(p2[1]) <= lmt:
break
#filepath = CheckPath()
#cls.StudyWhiteBack(filepath)
catchAndGo()
break
def OneCall():
#filepath = CheckPath()
cap = capture()
img = cap.FindMultiObject()
cls.GetTypeOfNuts(img, logits, images_placeholder, keep_prob, sess)
def OneCall():
filepath = CheckPath()
cap = capture()
cap.StudyData(filepath)
cls.GetTypeOfNuts(filepath, logits, images_placeholder, keep_prob, sess)
