42 lines
891 B
Python
42 lines
891 B
Python
import coords_creation
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import robot_control
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import dobot
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import serial
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import time
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import math
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y = []
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x = []
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coords = []
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origin = [200, 0, -63] # origin of the drawing
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new_size = [60, 0] # new size of the picture in mm, write 0 if you want to be proportional
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angle = 90 # rotation of 180°
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sym = 'x' # symetry on the x-axis
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live = 0 # 0 is live, 1 is for saved image
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coords = coords_creation.coordinates(origin, new_size, angle, sym, live)
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# xmin = 128, max = 267, ymin 180 -180
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dobot.setQueuedCmdClear()
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dobot.setQueuedCmdStartExec()
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dobot.setHomeCmd()
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dobot.setCPParams(175, 0, 10, 1, 1)
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delay = 0.3
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count = 0
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for i in coords:
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x = i[0]
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y = i[1]
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z = i[2]
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count += 1
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r = math.atan2(x, y)
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dobot.setCPCmd(1, x, y, z, r, 1)
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time.sleep(delay)
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print(round(count/len(coords)*100, 4), "%")
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