51 lines
824 B
Python
51 lines
824 B
Python
import matplotlib.pyplot as plt
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import sys
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#sys.path.insert(0, './dobot/librairies')
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import dobot
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import time
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dobot.setQueuedCmdClear()
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dobot.setQueuedCmdStartExec()
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def moyenneMobile(list, length):
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mm = []
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for i in range(0, len(list) - length, 1):
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sum = 0
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for k in range(0, length, 1):
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sum += list[i+k]
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mm.append(sum / length)
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return(mm)
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y = []
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z = []
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dobot.setPTPJumpParams(60,130,1)
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dobot.setPTPCmd(0, 259.6, 111, 9.8, 0, 1)
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dobot.setPTPCmd(0, 206, -130, 52.8, 0, 1)
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print(dobot.getPTPJumpParams())
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delay = 0.02
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for i in range(0, 300):
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valeurs = dobot.getPose()
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y.append(-valeurs[1])
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z.append(valeurs[2])
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time.sleep(delay)
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# On trace le graphique
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plt.xlabel("y")
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plt.ylabel("z")
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plt.plot(y, z, 'r')
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plt.axis([-130, 150, 0, 150])
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plt.show()
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