From 93dfdc84858373fcd1bfbc07c17611e299cc2ac7 Mon Sep 17 00:00:00 2001
From: "alexandre.letourneux" <alexandre.letourneux@ecam.fr>
Date: Tue, 26 Nov 2024 09:38:47 +0100
Subject: [PATCH] Pixel matrix functionnality added

---
 image_drawer.py | 36 ++++++++++++++++++++----------------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/image_drawer.py b/image_drawer.py
index 320ec5e..9fbe787 100644
--- a/image_drawer.py
+++ b/image_drawer.py
@@ -1,35 +1,39 @@
 import matplotlib.pyplot as plt
-import sys
 import dobot
 import time
-import math
 
 DRAW_MODE = 1
-SPEED = 1
-SIZE = 30
-INIT_POSITION = [200, -50]
+DRAW_SPEED = 1
+DRAW_SIZE = 40
+DRAW_DEPTH = -69
+DRAW_RES = 2
+
+INIT_POSITION = [240, -10]
 
 dobot.setQueuedCmdClear()
 dobot.setQueuedCmdStartExec()
 
-dobot.setPTPJumpParams(10, 50, 1)
-for x in range(INIT_POSITION[0], INIT_POSITION[0]+SIZE, 1):
-    for y in range(INIT_POSITION[1], INIT_POSITION[1]+SIZE, 1):
-        dobot.setPTPCmd(0, x, y, -68, 1, 1)
-        print(x, y)
+dobot.setPTPJumpParams(5, 3, 1)
 
-for i in range(10):
-    dobot.setCPCmd(1, 200, 0, -68, 1, 1)
-    dobot.setCPCmd(1, 200, -50, -68, 1, 1)
-    dobot.setCPCmd(1, 250, -50, -68, 1, 1)
-    dobot.setCPCmd(1, 250, 0, -68, 1, 1)
+matrix = []
+for x in range(INIT_POSITION[0], INIT_POSITION[0]+DRAW_SIZE, DRAW_RES):
+    for y in range(INIT_POSITION[1], INIT_POSITION[1]+DRAW_SIZE, DRAW_RES):
+        matrix.append((x,y))
+
+for point in matrix:
+    dobot.setPTPCmd(1, point[0], point[1], DRAW_DEPTH+5, 0, 1)
+    dobot.setPTPCmd(1, point[0], point[1], DRAW_DEPTH, 0, 1)
+    dobot.setPTPCmd(1, point[0], point[1], DRAW_DEPTH+5, 0, 1)
+
+    dobot.setWaitCmd(3)
+    time.sleep(0.8)
 
 def pixel_draw(resolution):
     pass
 
 def vector_draw(array):
     for vector in array:
-        dobot.setCPCmd(DRAW_MODE, array.x, array.y, array.z, SPEED, 1)
+        dobot.setCPCmd(DRAW_MODE, array.x, array.y, array.z, DRAW_SPEED, 1)
 
 # Stop the current execution
 if input("Appuyez sur Entrer pour arrêter.") == "":