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 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)
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 init(speed=100, coordinate=4000):
dType.SetQueuedCmdClear(api)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
200,
200,
200,
200,
isQueued=1)
# dType.SetPTPJointParams(api, speed, speed, speed, speed, speed, speed, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,
coordinate,
coordinate,
coordinate,
coordinate,
isQueued=1)
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Connect status:", CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
#Async Motion Params Setting
dType.SetHOMEParams(api, 172, -120, 50, 0, isQueued=1)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
200,
200,
200,
200,
isQueued=1)
dType.SetPTPCommonParams(api, 100, 100, isQueued=1)
dType.SetPTPJumpParams(api, 10, 100, isQueued=1)