def GetAndThrowiT(pos): if (pos == "h"): arm.SetPosition(-1, -1, -1, -1, 85, -1) WaitForMove() else: pos = arm.GetArmPosition() arm.SetPosition(-1, float(pos[1]) + 5, -1, -1, 160, -1) WaitForMove() arm.SetPosition(-1, -1, -1, -1, 160, -1) WaitForMove() arm.SetPosition(-1, float(pos[1]), -1, -1, 160, -1) WaitForMove() if (arm.GetTriggerStatus != "1"): arm.SetPosition(-1, float(pos[1]) - 2, -1, -1, 160, -1) WaitForMove() arm.Gripper(90) WaitForMove() arm.MovingSpeed(2) arm.SetPosition(-1, 80, -1, -1, -1, -1) WaitForMove() arm.SetPosition(6, 50, 80, 27, 85, -1) WaitForMove() arm.Gripper(20) WaitForMove() arm.SetPosition(lastpos[0], lastpos[1], lastpos[2], lastpos[3], lastpos[4], lastpos[5]) arm.MovingSpeed(5)
def LookForObject(): global ismove global lastpos while (ismove == 0): a = arm.GetYoloOutput() if len(a) > 0: arm.DrawTargetsOnVideo(a) arm.StopMovement() lastpos = arm.GetArmPosition() GetObject()
id = targets[0][2] arm.DrawTargetsOnVideo(targets) if distance == 0: distance = GetDistance(center[0], center[1]) arm.SendMessage("distance = " + str(distance)) arm.TryLockAtObject(center, 2, 25, res) if (last_center[0] >= center[0] - 2 and last_center[0] <= center[0] + 2 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()
new_sck, addr = sck.accept() def Receive(): data = new_sck.recv(tcp_count).decode('UTF-8') return data arm.InitCom() arm.SendMessage("skript spusteny") InitCom() arm.SendMessage("clien pripojeny") while (1): a = Receive() pos = arm.GetArmPosition() b = arm.IsMoving() print(b) if a == "0u": if b == 0: print("asd") arm.SetPosition(pos[0], (float(pos[1]) + 15), pos[2], pos[3], pos[4], pos[5]) elif a == "0d": if b == 0: arm.SetPosition(pos[0], (float(pos[1]) - 15), pos[2], pos[3], pos[4], pos[5]) elif a == "1d": if b == 0: arm.SetPosition(pos[0], pos[1], (float(pos[2]) - 20), pos[3], pos[4], pos[5])