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 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 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 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 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)
# for y in range(0, 4):
# lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xArr[x], y2DArr[x][y], zCoor, 0, isQueued = 1)[0]
# print(y2DArr[x][y])
#Draws an 'X' in each grid space, uses offset value
#Moves from UL to BR, jumps to UR, then moves from UR to BL
#for x in range(0, 3):
# for y in range(0, 3):
# lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xArr[x] - xOS, y2DArr[x][y] - yOS[x], zCoor, 0, isQueued = 1)[0]
# lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, xArr[x + 1] + xOS, y2DArr[x + 1][y + 1] + yOS[x], zCoor, 0, isQueued = 1)[0]
# lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xArr[x] - xOS, y2DArr[x][y + 1] + yOS[x], zCoor, 0, isQueued = 1)[0]
# lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, xArr[x + 1] + xOS, y2DArr[x + 1][y] - yOS[x], zCoor, 0, isQueued = 1)[0]
#lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xMax, yArr[0], zCoor, 0, isQueued = 1)[0] #A coords
#lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xMax, yArr[1], zCoor, 0, isQueued = 1)[0] #B coords
#lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xMin, yArr[2], zCoor, 0, isQueued = 1)[0] #C coords
#lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPJUMPXYZMode, xMin, yArr[3], zCoor, 0, isQueued = 1)[0] #D coords
#Start to Execute Command Queued
dType.SetQueuedCmdStartExec(api)
#Wait for Executing Last Command
while lastIndex > dType.GetQueuedCmdCurrentIndex(api)[0]:
dType.dSleep(100)
#Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(api)
#Disconnect Dobot
dType.DisconnectDobot(api)