def move_til_sample(u, precached):
u.arm_target("X", 0)
u.arm_target("Y", u.arm_max("Y"))
while u.arm_should_be_moving("X") or u.arm_should_be_moving("Y"): pass
u.motor_right(0.1)
u.motor_left(0.1)
while not rospy.is_shutdown():
curr_crotch_img = new_crotch_img2
xy = None
while xy is None:
curr_crotch_img = new_crotch_img2
if precached:
xy = grab.identify_precached(curr_crotch_img)
else:
xy = grab.identify_easy_sample(curr_crotch_img)
time.sleep(1)
u.motor_right(0.0)
u.motor_left(0.0)
break
def move_til_sample(u, precached):
u('arm_target', 2, 'X 0', rospy.Time.now())
params = 'Y ' + str(u('arm_max', 2, 'Y', rospy.Time.now()))
u('arm_target', 2, params, rospy.Time.now())
while u('arm_should_be_moving', 2, 'X', rospy.Time.now()) or u('arm_should_be_moving', 2, 'Y', rospy.Time.now()): pass
u('motor_left', 2, '0.1', rospy.Time.now())
u('motor_right', 2, '0.1', rospy.Time.now())
while not rospy.is_shutdown():
curr_crotch_img = new_crotch_img2
xy = None
while xy is None:
curr_crotch_img = new_crotch_img2
if precached:
xy = grab.identify_precached(curr_crotch_img)
else:
xy = grab.identify_easy_sample(curr_crotch_img)
time.sleep(1)
u('motor_left', 2, '0.0', rospy.Time.now())
u('motor_right', 2, '0.0', rospy.Time.now())
break
def move_til_sample(u, precached):
u('arm_target', 2, 'X 0', rospy.Time.now())
params = 'Y ' + str(u('arm_max', 2, 'Y', rospy.Time.now()))
u('arm_target', 2, params, rospy.Time.now())
while u('arm_should_be_moving', 2, 'X', rospy.Time.now()) or u(
'arm_should_be_moving', 2, 'Y', rospy.Time.now()):
pass
u('motor_left', 2, '0.1', rospy.Time.now())
u('motor_right', 2, '0.1', rospy.Time.now())
while not rospy.is_shutdown():
curr_crotch_img = new_crotch_img2
xy = None
while xy is None:
curr_crotch_img = new_crotch_img2
if precached:
xy = grab.identify_precached(curr_crotch_img)
else:
xy = grab.identify_easy_sample(curr_crotch_img)
time.sleep(1)
u('motor_left', 2, '0.0', rospy.Time.now())
u('motor_right', 2, '0.0', rospy.Time.now())
break
