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()