예제 #1
0
def modify_blocks():
    global CURRENT_ARRAY_LENGTH
    global CURRENT_ARRAY
    global DISPLAY_AREA_POSITIONS

    CURRENT_ARRAY_LENGTH = len(CURRENT_ARRAY)

    display_area_calc()

    print(CURRENT_ARRAY_LENGTH)
    print("-----------------")
    for i in range(CURRENT_ARRAY_LENGTH):
        print(i)
        # print("LOOKUP_OUTPUT = ",lookup.LOOKUP_OUTPUT)
        # print("DYNA_1_POS = ",lookup.DYNA_1_POS)
        # print("DYNA_2_POS = ",lookup.DYNA_2_POS)
        # --------------- PICK FORWARD --------------------------
        print("Picking ", CURRENT_ARRAY[i], " from arena")
        lookup.lookup(CURRENT_ARRAY[i], 0)
        # # eg:- "A",pick
        # print("LOOKUP_OUTPUT = ",lookup.LOOKUP_OUTPUT)
        dynamixel.GO_TO_DYNA_1_POS = lookup.LOOKUP_OUTPUT[0]
        dynamixel.GO_TO_DYNA_2_POS = lookup.LOOKUP_OUTPUT[1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        # arduino.pick(LOOKUP_OUTPUT[2])

        # print("DYNA_1_POS = ",lookup.DYNA_1_POS)
        # print("DYNA_2_POS = ",lookup.DYNA_2_POS)
        # print("----")
        # -------------------------------------------------------
        time.sleep(3)
        print("----")
        # ---------------- PLACE FORWARD ------------------------
        print("Placing ", CURRENT_ARRAY[i], " on display area")
        dynamixel.GO_TO_DYNA_1_POS = DISPLAY_AREA_POSITIONS[i][0]
        dynamixel.GO_TO_DYNA_2_POS = DISPLAY_AREA_POSITIONS[i][1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        # arduino.place(DISPLAY_AREA_something)

        # -------------------------------------------------------
        print("-----------------")
        time.sleep(3)
    print("wait thoda...\nwait thoda...\nwait thoda...")
    print("-----------------")
    for k in range(CURRENT_ARRAY_LENGTH):
        i = CURRENT_ARRAY_LENGTH - k - 1
        # ----------------- PICK REVERSE ------------------------
        print("Picking ", CURRENT_ARRAY[i], " from display area")
        dynamixel.GO_TO_DYNA_1_POS = DISPLAY_AREA_POSITIONS[i][0]
        dynamixel.GO_TO_DYNA_2_POS = DISPLAY_AREA_POSITIONS[i][1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        # arduino.pick(DISPLAY_AREA_something)

        # -------------------------------------------------------
        time.sleep(3)
        print("----")
        # --------------- PLACE REVERSE --------------------------
        print("Placing ", CURRENT_ARRAY[i], " in arena")
        lookup.lookup(CURRENT_ARRAY[i], 1)
        dynamixel.GO_TO_DYNA_1_POS = lookup.LOOKUP_OUTPUT[0]
        dynamixel.GO_TO_DYNA_2_POS = lookup.LOOKUP_OUTPUT[1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        # arduino.place(LOOKUP_OUTPUT[2])

        # -------------------------------------------------------
        print("-----------------")
        time.sleep(3)
    print("bring it on")
예제 #2
0
def modify_blocks(obj):
    global CURRENT_ARRAY_LENGTH
    global CURRENT_ARRAY
    global DISPLAY_AREA_POSITIONS
    global FLAG

    CURRENT_ARRAY_LENGTH = len(CURRENT_ARRAY)
    global_string = ''
    string = CURRENT_ARRAY
    FLAG = False

    display_area_calc()

    print(CURRENT_ARRAY_LENGTH)
    print("-----------------")
    for i in range (CURRENT_ARRAY_LENGTH):
        if(CURRENT_ARRAY[i] == " "):
            global_string+=" "
            continue
        print(i)
        # print("LOOKUP_OUTPUT = ",lookup.LOOKUP_OUTPUT)
        # print("DYNA_1_POS = ",lookup.DYNA_1_POS)
        # print("DYNA_2_POS = ",lookup.DYNA_2_POS)
        #--------------- PICK FORWARD --------------------------
        print("Picking ",CURRENT_ARRAY[i]," from arena")
        
        global_string+=string[i]
        obj.update_label(global_string)

        lookup.lookup(CURRENT_ARRAY[i],0)
        # # eg:- "A",pick
        # print("LOOKUP_OUTPUT = ",lookup.LOOKUP_OUTPUT)
        dynamixel.GO_TO_DYNA_1_POS = lookup.LOOKUP_OUTPUT[0]
        dynamixel.GO_TO_DYNA_2_POS = lookup.LOOKUP_OUTPUT[1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        #arduino.pick(LOOKUP_OUTPUT[2])
        
        # print("DYNA_1_POS = ",lookup.DYNA_1_POS)
        # print("DYNA_2_POS = ",lookup.DYNA_2_POS)
        # print("----")
        #-------------------------------------------------------
        time.sleep(3)
        print("----")
        #---------------- PLACE FORWARD ------------------------
        print("Placing ",CURRENT_ARRAY[i]," on display area")

        global_string+='....'
        obj.update_label(global_string)

        dynamixel.GO_TO_DYNA_1_POS = DISPLAY_AREA_POSITIONS[i][0]
        dynamixel.GO_TO_DYNA_2_POS = DISPLAY_AREA_POSITIONS[i][1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        #arduino.place(DISPLAY_AREA_something)
        p = i+1
        if(FLAG):
            break
        #-------------------------------------------------------
        print("-----------------")
        time.sleep(3)
    print("wait thoda...\nwait thoda...\nwait thoda...")
    print("-----------------")
    for k in range (p):
        i = p-k-1
        if(CURRENT_ARRAY[i] == " "):
        	global_string = global_string[:-1]
        	continue
        #----------------- PICK REVERSE ------------------------
        print("Picking ",CURRENT_ARRAY[i]," from display area")

        global_string = global_string[:-4]
        obj.update_label(global_string)

        dynamixel.GO_TO_DYNA_1_POS = DISPLAY_AREA_POSITIONS[i][0]
        dynamixel.GO_TO_DYNA_2_POS = DISPLAY_AREA_POSITIONS[i][1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        #arduino.pick(DISPLAY_AREA_something)
        
        #-------------------------------------------------------
        time.sleep(3)
        print("----")
        #--------------- PLACE REVERSE --------------------------
        print("Placing ",CURRENT_ARRAY[i]," in arena")

        global_string = global_string[:-1]
        obj.update_label(global_string)

        lookup.lookup(CURRENT_ARRAY[i],1)
        dynamixel.GO_TO_DYNA_1_POS = lookup.LOOKUP_OUTPUT[0]
        dynamixel.GO_TO_DYNA_2_POS = lookup.LOOKUP_OUTPUT[1]
        dynamixel.dyna_move()
        lookup.DYNA_1_POS = dynamixel.GO_TO_DYNA_1_POS
        lookup.DYNA_2_POS = dynamixel.GO_TO_DYNA_2_POS
        #arduino.place(LOOKUP_OUTPUT[2])
        
        #-------------------------------------------------------
        print("-----------------")
        time.sleep(3)
	print("bring it on")