def pickup_brick(self, pick_up_plane):
"""Example of a method's documentation.
Parameters
----------
point_x : float
Description of the first param
point_y : float
Description of the second param
"""
safe_distance = 50
safe_plane = pick_up_plane.Clone()
safe_plane.Translate(rg.Vector3d(0, 0, safe_distance))
self.script += ur.move_l(safe_plane, self.accel, self.vel)
self.way_planes.append(safe_plane)
self.script += ur.move_l(pick_up_plane, self.accel, self.vel)
self.way_planes.append(pick_up_plane)
self.script += ur.set_digital_out(4, True)
self.script += ur.sleep(1)
self.script += ur.move_l(safe_plane, self.accel, self.vel)
self.way_planes.append(safe_plane)
return None
def place_brick(self, plane):
"""
this function gereates the robotic sequience for placing a brick
Requires a plane wich describes the possition of the brick"""
safe_distance = 50
safe_plane = plane.Clone()
safe_plane.Translate(rg.Vector3d(0, 0, safe_distance))
self.script += ur.move_l(safe_plane, self.accel, self.vel)
self.way_planes.append(safe_plane)
self.script += ur.move_l(plane, self.accel, self.vel)
self.way_planes.append(plane)
self.script += ur.set_digital_out(4, False)
self.script += ur.sleep(1)
self.script += ur.move_l(safe_plane, self.accel, self.vel)
self.way_planes.append(safe_plane)
return None