def GetObject():
global lastpos
base = float(lastpos[1])
compensation = float(lastpos[3])
pos = "w"
while (1):
a = arm.GetYoloOutput()
if len(a) > 0:
pos = a[0][3]
arm.DrawTargetsOnVideo(a)
lock = arm.TryLockAtObject(a[0], 3, 40, res)
if (lock == 1):
base = base - 3
compensation = compensation - 3
arm.SetPosition(-1, base, -1, compensation, -1, -1)
WaitForMove()
trigger = arm.GetTriggerStatus()
if (trigger == "1"):
break
GetAndThrowiT(pos)
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()
if (trigger == "0"):
arm.SetPosition(-1, -1, -1, f_pos[2] - 10, -1, -1)
WaitForMove()
time.sleep(0.500)
arm.Gripper(70)
WaitForMove()
else:
arm.Gripper(70)
WaitForMove()
