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)
#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,
200,
200,
200,
200,
isQueued=1)
dType.SetPTPCommonParams(api, 100, 100, isQueued=1)
dType.SetPTPJumpParams(api, 10, 100, isQueued=1)
#Async Home
dType.SetHOMECmd(api, temp=0, isQueued=1)
#Async PTP Motion
#(default DobotControl action)
#for i in range(0, 6):
# if i % 2 == 0:
# offset = 50
# else:
# offset = -50
# lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 200 + offset, offset, offset, offset, isQueued = 1)[0]
#rough estimates of the Game Board Corner Coordinates based on 4.5 inches away from dobot side