def start_working(self, device): try: print('doing PickAndPlace') if device == "RPI": from Controller.GpioController import GpioController gpio = GpioController() gpio.initPins() gpio.gpioControl('elbow_f', 1.1) time.sleep(0.5) # gpio.gpioControl('grip_f', 0.3) # gpio.gpioControl('grip_b', 0.3) # time.sleep(0.5) gpio.gpioControl('elbow_b', 1.5) time.sleep(0.5) elif device == "LAPTOP": time.sleep(1) print('PickAndPlace finished..') print('Replying to WT server...') response = self.COMPLETED_MESSAGE return response except (ConnectionResetError, OSError) as e: print(e)
def start_working(self, device): try: print('doing PickAndFlipAndPress') if device == "RPI": from Controller.GpioController import GpioController gpio = GpioController() gpio.initPins() # gpio.gpioControl('wrist_f', 1) # time.sleep(0.5) gpio.gpioControl('grip_f', 0.7) gpio.gpioControl('grip_b', 0.7) time.sleep(0.5) gpio.gpioControl('grip_f', 0.7) gpio.gpioControl('grip_b', 0.7) time.sleep(0.5) # gpio.gpioControl('wrist_b', 1.2) elif device == "LAPTOP": time.sleep() print('PickAndFlipAndPress finished..') print('Replying to WT server...') encoded_response = self.COMPLETED_MESSAGE return encoded_response except (ConnectionResetError, OSError) as e: print(e)
def start_working(self, message, device): try: print('doing MoveMs to ' + str(message)) if "left" in message: print(" \n \n \n move to left \n \n \n ") if device == "RPI": from Controller.GpioController import GpioController gpio = GpioController() gpio.initPins() gpio.gpioControl('rotate_l', 2.6) time.sleep(1) elif device == "LAPTOP": time.sleep(1) print('MoveMs finished..') print('Replying to server...') encoded_response = self.COMPLETED_MESSAGE_POS1 return encoded_response elif "right" in message: print(" \n \n \n move to right \n \n \n ") if device == "RPI": from Controller.GpioController import GpioController gpio = GpioController() gpio.initPins() gpio.gpioControl('rotate_r', 2.4) time.sleep(1) elif device == "LAPTOP": time.sleep(1) print('MoveMs finished..') print('Replying to server...') encoded_response = self.COMPLETED_MESSAGE_POS2 return encoded_response else: return "wrong message" except (ConnectionResetError, OSError) as e: print(e)