def GetAndThrowiT(pos):
if (pos == "h"):
arm.SetPosition(-1, -1, -1, -1, 85, -1)
WaitForMove()
else:
pos = arm.GetArmPosition()
arm.SetPosition(-1, float(pos[1]) + 5, -1, -1, 160, -1)
WaitForMove()
arm.SetPosition(-1, -1, -1, -1, 160, -1)
WaitForMove()
arm.SetPosition(-1, float(pos[1]), -1, -1, 160, -1)
WaitForMove()
if (arm.GetTriggerStatus != "1"):
arm.SetPosition(-1, float(pos[1]) - 2, -1, -1, 160, -1)
WaitForMove()
arm.Gripper(90)
WaitForMove()
arm.MovingSpeed(2)
arm.SetPosition(-1, 80, -1, -1, -1, -1)
WaitForMove()
arm.SetPosition(6, 50, 80, 27, 85, -1)
WaitForMove()
arm.Gripper(20)
WaitForMove()
arm.SetPosition(lastpos[0], lastpos[1], lastpos[2], lastpos[3], lastpos[4],
lastpos[5])
arm.MovingSpeed(5)
def LookForObject():
global ismove
global lastpos
while (ismove == 0):
a = arm.GetYoloOutput()
if len(a) > 0:
arm.DrawTargetsOnVideo(a)
arm.StopMovement()
lastpos = arm.GetArmPosition()
GetObject()
id = targets[0][2]
arm.DrawTargetsOnVideo(targets)
if distance == 0:
distance = GetDistance(center[0], center[1])
arm.SendMessage("distance = " + str(distance))
arm.TryLockAtObject(center, 2, 25, res)
if (last_center[0] >= center[0] - 2 and last_center[0] <= center[0] + 2
and last_center[1] >= center[1] - 2
and last_center[1] <= center[1] + 2):
conf = conf + 1
else:
conf = 0
if (conf == 3):
act_pos = arm.GetArmPosition()
f_pos = BruteForcePos(distance)
conf = 0
arm.SetPosition(
float(act_pos[0]) - 3, -1, f_pos[1] - 14.75, f_pos[2], -1, -1)
WaitForMove()
arm.SetPosition(-1, f_pos[0], -1, -1, -1, -1)
WaitForMove()
time.sleep(0.500)
trigger = arm.GetTriggerStatus()
if (trigger == "0"):
arm.SetPosition(-1, -1, -1, f_pos[2] + 10, -1, -1)
WaitForMove()
time.sleep(0.500)
trigger = arm.GetTriggerStatus()
new_sck, addr = sck.accept()
def Receive():
data = new_sck.recv(tcp_count).decode('UTF-8')
return data
arm.InitCom()
arm.SendMessage("skript spusteny")
InitCom()
arm.SendMessage("clien pripojeny")
while (1):
a = Receive()
pos = arm.GetArmPosition()
b = arm.IsMoving()
print(b)
if a == "0u":
if b == 0:
print("asd")
arm.SetPosition(pos[0], (float(pos[1]) + 15), pos[2], pos[3],
pos[4], pos[5])
elif a == "0d":
if b == 0:
arm.SetPosition(pos[0], (float(pos[1]) - 15), pos[2], pos[3],
pos[4], pos[5])
elif a == "1d":
if b == 0:
arm.SetPosition(pos[0], pos[1], (float(pos[2]) - 20), pos[3],
pos[4], pos[5])