from board import *
from utils import *
import time
import cv2
import vision
from pydobot import Dobot
# 连接机械臂
global device
device = Dobot(port='com6', verbose=False)
time.sleep(0.5)
device.speed(1)
device._get_pose()
# 位置初始化
device.go_init_pos()
def text_objects(text, font):
textSurface = font.render(text, True, black)
return textSurface, textSurface.get_rect()
def message_display(text, x, y, size):
largeText = pygame.font.Font('freesansbold.ttf', size)
TextSurf, TextRect = text_objects(text, largeText)
TextRect.center = (x, y)
screen.blit(TextSurf, TextRect)
pygame.display.update()
from glob import glob
from pydobot import Dobot
from mypack.myglob import board_list
print(board_list)
# available_ports = glob('com6') # mask for OSX Dobot port
# print(available_ports)
# if len(available_ports) == 0:
# print('no port found for Dobot Magician')
# exit(1)
device = Dobot(port='com6', verbose=False)
time.sleep(0.5)
device.speed(1)
alist = device._get_pose()
print("alist:", alist)
a = 99
device.go(250.0, 0.0, 130.0)
while 1:
a = input("input act:")
# 001 move test
# device.go(250.0, 0.0, 100.0)
# rsp = device.go(250.0, 0.0, 130.0)
if int(a) == 1:
device.speed(1)
device.go(250.0, 0.0, 100)
