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")
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")
