def draw12():
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPJUMPXYZMode,
xArr[0] - xOS,
y2DArr[0][1] - yOS[0],
zCoor,
0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPMOVLXYZMode,
xArr[1] + xOS,
y2DArr[1][2] + yOS[0],
zCoor,
0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPJUMPXYZMode,
xArr[0] - xOS,
y2DArr[0][2] + yOS[0],
zCoor,
0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPMOVLXYZMode,
xArr[1] + xOS,
y2DArr[1][1] - yOS[0],
zCoor,
0,
isQueued=1)[0]
goHome()
def init():
speed1=150
speed = 500
coordinate=500
dType.SetPTPJointParams(api, speed1,speed1,speed1,speed1,speed1,speed1,speed1,speed1, isQueued=1)
dType.SetPTPCommonParams(api, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,coordinate,coordinate,coordinate,coordinate,isQueued=1)
def draw20():
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPJUMPXYZMode,
xArr[2] - xOS,
y2DArr[2][2] - yOS[2],
zCoor,
0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPMOVLXYZMode,
xArr[3] + xOS,
y2DArr[3][3] + yOS[2],
zCoor,
0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPJUMPXYZMode,
xArr[2] - xOS,
y2DArr[2][3] + yOS[2],
zCoor,
0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPMOVLXYZMode,
xArr[3] + xOS,
y2DArr[3][2] - yOS[2],
zCoor,
0,
isQueued=1)[0]
goHome()
def play_1_loop(press_time):
dobot_state = dType.ConnectDobot(api, "", 115200)[0]
if dobot_state == dType.DobotConnect.DobotConnect_NoError:
moveForward()
press_screen(press_time)
time.sleep(1.7)
moveForward(offset=-70)
dType.DisconnectDobot(api)
time.sleep(4)
def work():
dType.SetQueuedCmdClear(api)
init()
offset=0;offset1=0
print(waittime2)
for i in range(0, 10):
print(i)
if i % 4 == 0:
offset = 0;offset1=-50
elif i % 4 == 1:
offset = 0;offset1=0
elif i % 4 == 2:
offset = 20;offset1=0
elif i % 4 == 3:
offset = 0;offset1=0
lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode,postion[0]+offset1,postion[1],postion[2]-offset,postion[3])[0] # 移动
dType.SetWAITCmd(api, waittime2)
dType.SetQueuedCmdStartExec(api)
# Wait for Executing Last Command
while lastIndex > dType.GetQueuedCmdCurrentIndex(api)[0]:
dType.dSleep(200)
#Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(api)
dType.SetQueuedCmdClear(api)
def goHome():
lastIndex = dType.SetPTPCmd(api,
dType.PTPMode.PTPJUMPXYZMode,
172,
-120,
50,
0,
isQueued=1)[0]
def init(speed=100, coordinate=4000):
dType.SetQueuedCmdClear(api)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
200,
200,
200,
200,
isQueued=1)
# dType.SetPTPJointParams(api, speed, speed, speed, speed, speed, speed, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,
coordinate,
coordinate,
coordinate,
coordinate,
isQueued=1)
def press_screen(press_time):
dType.SetQueuedCmdClear(api)
init() if press_time > 450 else init(coordinate=9000)
waiting_time = press_time * 0.001
for i in range(0, 2):
offset = 20 if i % 2 == 0 else 0
last_index = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode,
postion[0], postion[1],
postion[2] - offset, postion[3])[0]
dType.SetWAITCmd(api, waiting_time)
dType.SetQueuedCmdStartExec(api)
while last_index > dType.GetQueuedCmdCurrentIndex(api)[0]:
dType.dSleep(0)
dType.SetQueuedCmdStopExec(api)
dType.SetQueuedCmdClear(api)
def moveForward(offset=0):
"""
default offset = 0 means above the phone screen
when offset = -70, it means moveBackward, (to let the camera get the image)
"""
dType.SetQueuedCmdClear(api)
init()
last_index = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode,
postion[0] + offset, postion[1], postion[2],
postion[3])[0] # 移动
dType.SetQueuedCmdStartExec(api)
while last_index > dType.GetQueuedCmdCurrentIndex(api)[0]:
dType.dSleep(0)
dType.SetQueuedCmdStopExec(api)
dType.SetQueuedCmdClear(api)
def set_chess(x, y):
dType.SetQueuedCmdClear(api) # Clean Command Queued
chess.get_chess()
move(relay_point)
board.down_chess(x, y)
last_idx = move(origin_point)
dType.SetQueuedCmdStartExec(api) # Start to Execute Command Queued
while last_idx > dType.GetQueuedCmdCurrentIndex(
api)[0]: # Wait for Executing Last Command
dType.dSleep(100)
dType.SetQueuedCmdStopExec(api) # Stop to Execute Command Queued
def move_around(): # just for test
dType.SetQueuedCmdClear(api) # Clean Command Queued
move(board.LOWER_LEFT)
move(board.LOWER_RIGHT)
move(board.UPPER_RIGHT)
move(board.UPPER_LEFT)
last_idx = move(board.CENTER_POINT)
dType.SetQueuedCmdStartExec(api) # Start to Execute Command Queued
while last_idx > dType.GetQueuedCmdCurrentIndex(
api)[0]: # Wait for Executing Last Command
dType.dSleep(100)
dType.SetQueuedCmdStopExec(api) # Stop to Execute Command Queued
def main():
state = dType.ConnectDobot(api, "", 115200)[0]
print("Connect status:", CON_STR[state])
if state == dType.DobotConnect.DobotConnect_NoError:
work()
dType.DisconnectDobot(api)
import DobotDll.DobotDllType as dType
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}
#Load Dll
api = dType.load()
waittime2=0.486
postion=[236.7609, 35.4838, -26.2502, 8.5236]
def init():
speed1=150
speed = 500
coordinate=500
dType.SetPTPJointParams(api, speed1,speed1,speed1,speed1,speed1,speed1,speed1,speed1, isQueued=1)
dType.SetPTPCommonParams(api, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,coordinate,coordinate,coordinate,coordinate,isQueued=1)
# Async Home
# dType.SetHOMECmd(api, temp=0, isQueued=1)
def work():
dType.SetQueuedCmdClear(api)
init()
offset=0;offset1=0
print(waittime2)
for i in range(0, 10):
print(i)
if i % 4 == 0:
import threading
import DobotDll.DobotDllType as dType
import random
from pynput import keyboard
from pynput.keyboard import KeyCode
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Connect status:", CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
#Async Motion Params Setting
dType.SetHOMEParams(api, 172, -120, 50, 0, isQueued=1)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
# just main for dobot
# in: position to put
# out: do the operation
import DobotDll.DobotDllType as dType
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
api = dType.load()
def connect():
state = dType.ConnectDobot(api, "", 115200)[0] # Connect Dobot
print("Connect status:", CON_STR[state])
return state
def move(p):
return dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, p[0], p[1], p[2],
0, 1)[0]
class Board:
n, m, HEIGHT = 9, 9, 2
LOWER_LEFT = [318, -86, HEIGHT]
LOWER_RIGHT = [318, 86, HEIGHT]
UPPER_LEFT = [132, -86, HEIGHT]
UPPER_RIGHT = [132, 86, HEIGHT]
CENTER_POINT = [(LOWER_LEFT[0] + UPPER_LEFT[0]) / 2,
(LOWER_LEFT[1] + LOWER_RIGHT[1]) / 2, HEIGHT]
def connect():
state = dType.ConnectDobot(api, "", 115200)[0] # Connect Dobot
print("Connect status:", CON_STR[state])
return state
def move(p):
return dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, p[0], p[1], p[2],
0, 1)[0]
def down_chess(self, x, y):
move(self.location(x, y))
dType.SetEndEffectorSuctionCup(api, True, False, isQueued=1)
def get_chess(self):
self.idx += 1
x, y = self.idx / self.m, self.idx % self.m
move(self.location(x, y))
dType.SetEndEffectorSuctionCup(api, True, True, isQueued=1)
import time
from DobotDll import DobotDllType as dType
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
api = dType.load() # Load Dll
postion = [237.7514, 49.2358, -25.7501, 7.1569]
def init(speed=100, coordinate=4000):
dType.SetQueuedCmdClear(api)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
200,
200,
200,
200,
isQueued=1)
# dType.SetPTPJointParams(api, speed, speed, speed, speed, speed, speed, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,
coordinate,
coordinate,
coordinate,
coordinate,
isQueued=1)
