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")