def main():
yolo = detect.Yolo()
cm = camera.Camera(num=1)
homex, homey, homez = 200, 0, 70
dbt = dobot.Dobot(homex, homey, homez)
while True:
try:
img = cm.getImage()
detectedImg, boxes, nums = yolo.detect(img)
gain = 50
if (nums[0] > 0):
y = (boxes[0][0][0] + boxes[0][0][2] - 1) * gain
x = (boxes[0][0][1] + boxes[0][0][3] - 1) * gain
print("x,y:", x, y)
pose = dbt.getPose()
dbt.move(int(pose.x - x), int(pose.y - y), homez, 0)
print("dobot x,y:pose.x,pose.y", pose.x, pose.y)
cv2.imshow('frame', detectedImg)
cv2.waitKey(1)
except KeyboardInterrupt:
dbt.dobotDisconnect()
break
def __init__(self, emulation=False):
self.emulation = emulation
if (self.emulation is False):
port = list_ports.comports()[0].device
print(port)
self.device = dobot.Dobot(port=port, verbose=False)
self.device.speed()
else:
self.device = None
self.pastStep = 1
self.xList = [259.1198]
self.yList = [0]
self.zList = [-8.5687]
self.position = None #(x, y, z, r, j1, j2, j3, j4)
self.getTime = None
################################################################################## ############# mini assembly first conveyor cam is yellow jig ##################### ################################################################################## import cv2 import numpy as np import imutils import dobot import serial from serial.tools import list_ports port=list_ports.comports()[0].device d1 = dobot.Dobot(port=port, verbose=True) d1.motor(50) d1.movel(205, 0, 160, 0) d1.delay(3) placex=180 placey=-203 yv=0 o=0 #####funtion representing a fixed set of instructions to robot##### def dobot(X,Y,xp,yp): #d1.movel(250, 0, 50, 0) #d1.delay(2) d1.movel(X, Y, 40, 0) d1.delay(0.5) d1.movel(X, Y, -6, 0) d1.delay(2)
def main():
available_ports = glob('/dev/cu.SLAB*') # mask for OSX Dobot port
if len(available_ports) == 0:
print('no port found for Dobot Magician')
exit(1)
device = dobot.Dobot(port=available_ports[0])
time.sleep(0.5)
# device.speed(100)
# print(device.go(250.0, 0.0, 80.0))
# print('hajs')
# device.speed(100)
# print(device.go(250.0, 0.0, 0.0))
print("start")
# device.set_home(250, 100, 50, 0)
# print(device.go_home())
while False:
for i in range(80, 150, 10):
print(device.set_conveyor(1, 1, i))
time.sleep(2)
break
# print(device.go(260.8829040527344, -103.0121078491211, 12.091949462890625))
# print(device.set_cupper(1, 1))
# time.sleep(0.5)
# print(device.go(260.11785888671875, 42.92505645751953, 90.23689270019531))
# print(device.go(258.7375183105469, 168.59320068359375, 12.011768341064453))
# time.sleep(0.5)
# print(device.set_cupper(1, 0))
# print(device.go(261.3182678222656, 16.561960220336914, 90.10472106933594))
# time.sleep(0.5)
while True:
try:
cmd = (input('enter command: ')).split()
param = list(map(int, cmd[1:]))
cmd = cmd[0]
if cmd:
if cmd == 'conveyor':
print(param[0])
print(device.set_conveyor(1, 0, param[0]))
elif cmd == 'cupper':
print(device.set_cupper(1, param[0]))
elif cmd == 'go_home':
print(device.go_home())
elif cmd == 'set_home':
print(
device.set_home(param[0], param[1], param[2],
param[3]))
elif cmd == 'get_home':
print(device.get_home())
elif cmd == 'go':
print(device.go(param[0], param[1], param[2], param[3]))
elif cmd == 'get_pose':
print(device.get_pose())
elif cmd == 'setvelacc':
print(device.speed(param[0], param[1]))
elif cmd == 'clear':
print(device.clear_alarm())
except Exception as e:
print(e)
pass
print('end')
# print(device._get_pose())
# print('adfgd')
# time.sleep(2)
device.close()