def __doDrawing(self, orientation, scale):
print "Extracting points with camera..."
drawingCountoursFound = False
drawingCountour = []
tryCount = 0
while not drawingCountoursFound:
shuffleDistance = 3
try:
drawingCountour = self.cam.getDrawingContour()
drawingCountoursFound = True
except ValueError:
print "Failed to extract points from camera! Retrying... with count: " + str(tryCount)
if not tryCount % 5:
self.robotMover.relativeShuffle(shuffleDistance, -150)
elif tryCount % 5 == 1:
self.robotMover.relativeShuffle(shuffleDistance, 90)
elif tryCount % 5 == 2:
self.robotMover.relativeShuffle(shuffleDistance, -30)
elif tryCount % 5 == 3:
self.robotMover.doRelativeRotation(-10)
else:
self.robotMover.doRelativeRotation(20)
tryCount += 1
points = drawingCountour[0]
size = drawingCountour[1]
print points
print size
pointsToDraw = self.imagePointsTransformer.transform(drawingCountour, orientation, scale)
SendEvent.send(SendDessin(pointsToDraw))
movedPoints = PointsCloudOperations.move(pointsToDraw, 144.8, 25.5)
print "going to first drawing point"
self.robotMover.doSnakeMovement(movedPoints[0], 270)
print "arrived at first drawing point!"
prehensorController = PrehensorController()
prehensorController.dropPrehensor()
movedPoints.append(movedPoints[0]) # this is to close the figure
self.robotMover.doShuffleMovement(movedPoints, 270)
prehensorController.raisePrehensor()
import time from python.src.robot.arduino.prehensorcontroller import PrehensorController prehensorController = PrehensorController() prehensorController.dropPrehensor() time.sleep(5) prehensorController.raisePrehensor()
