def move_row_by_row(self,
start_cell_name='T1',
step=1,
is_upper_letter=True):
cell = ChessboardCell()
cell.from_name(start_cell_name)
start_cell_id = cell.id
for index in range(start_cell_id, 361, step):
if index % 19 == 0:
# change postion to new row
cell.from_id(180)
temp_FK = self.__chessboard_helper.get_interpolated_FK_from_cell(
cell)
self.__move_to_FK_Position(temp_FK)
cell.from_id(index)
print(cell.to_diction())
target_FK = self.__chessboard_helper.get_interpolated_FK_from_cell(
cell)
if is_upper_letter:
self.__robot.current_pose.name = cell.name.upper()
target_FK.z = 0.001
else:
self.__robot.current_pose.name = cell.name.lower()
target_FK.z = 0.098
self.__move_to_FK_Position(target_FK)
rospy.sleep(10)
self.__robot.update_current_pose_to_diction()
self.__robot.write_pose_diction_to_json_file()
def test_pickup_from_warehouse(self, auto_pause):
self.__robot.eye_open('origin')
# self.__robot.eye_open('candy')
for i in range(0, 360):
self.__robot.action_pickup_chess_from_warehouse()
this_cell = ChessboardCell()
this_cell.from_id(i)
self.__robot.action_place_chess_to_a_cell(this_cell.name)
if auto_pause:
key = click.getchar()
if key == '\x1b':
#Escape
zero = self.__robot.get_target_pose_by_name('ZERO')
self.__robot.goto_here(zero)
print('You can shout down the power now.')
key = click.getchar()
def test_row_by_row(self, start_cell_name):
self.__robot.eye_open('origin')
first_cell = ChessboardCell()
first_cell.from_name(start_cell_name)
second_cell = ChessboardCell()
# pickup from warehouse, the first one
self.__robot.action_pickup_chess_from_warehouse()
self.__robot.action_place_chess_to_a_cell(first_cell.name)
# pickup from warehouse, the second one
self.__robot.action_pickup_chess_from_warehouse()
second_cell.from_id(first_cell.id + 1)
self.__robot.action_place_chess_to_a_cell(second_cell.name)
for i in range(first_cell.row_id * 19, 361):
this_cell = ChessboardCell()
this_cell.from_id(i)
next_cell = ChessboardCell()
next_cell.from_id(i + 2)
print('******************************* %s' % this_cell.name)
print('******************************* %s' % next_cell.name)
self.__robot.action_pickup_chess_from_a_cell(this_cell.name)
self.__robot.action_place_chess_to_a_cell(next_cell.name)
if self.__last_pressed_key == '\x1b': #Esc
self.__robot.eef_sleep()
zero = self.__robot.get_target_pose_by_name('ZERO')
self.__robot.goto_here(zero)
return
def test_col_by_col(self, start_col):
self.__robot.eye_open('origin')
self.__robot.action_pickup_chess_from_warehouse()
self.__robot.action_place_chess_to_a_cell('A' + str(start_col))
self.__robot.action_pickup_chess_from_warehouse()
self.__robot.action_place_chess_to_a_cell('B' + str(start_col))
for iCol in range(0, 19):
for iRow in range(start_col, 19):
this_cell = ChessboardCell()
this_cell.from_id(iRow * 19 + iCol)
next_cell = ChessboardCell()
next_cell.from_id(iRow * 19 + iCol)
print('******************************* %s' % this_cell.name)
print('******************************* %s' % next_cell.name)
self.__robot.action_pickup_chess_from_a_cell(this_cell.name)
self.__robot.action_place_chess_to_a_cell(next_cell.name)
if self.__last_pressed_key == '\x1b': #Esc
self.__robot.eef_sleep()
zero = self.__robot.get_target_pose_by_name('ZERO')
self.__robot.goto_here(zero)
return