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SinglePlayer.py
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SinglePlayer.py
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import time
import DobotAPI
import DobotTypes
from DobotControl import DobotControl, ensure_color_index, color_exists
class Settings:
HOME_BASE = (210.15174865722656, 0, 20.25244903564453)
RIGHT_GET_DIS_X = 25
RIGHT_GET_DIS_Y = 25
RIGHT_PUT_DIS_X = 55
RIGHT_PUT_DIS_Y = 30
RIGHT_GET_BASE = (208.95521545410156, 67.0932502746582, -40.081871032714844)
RIGHT_COLOR_BASE = (178.8518829345703, 174.12266540527344, 7.488426208496094)
RIGHT_PUT_BASE = (115.4960708618164, 145.10301208496094, -60.67840576171875)
RIGHT_WASTE_POSE = (186.422119140625, 232.47254943847656, 15.287193298339844)
BLOCK_SIZE = 28
DobotAPI.OutPutFlag = False
RIGHT_DEBUG = False
COLOR_PORT = DobotTypes.ColorPort.PORT_GP2
HOME_INIT = False
RIGHT_PUT_LIMIT = 8
R = 0
G = 1
B = 2
color_dic = ['R', 'G', 'B']
# COLOR_SERIES = [G, B, G, R, R, R, B, B, R, B]
COLOR_SERIES = None
BLOCKS_ORDINARY = [11, 18] + list(range(10))
class Robot(DobotControl):
def __init__(self):
super().__init__()
self.counts = [0 for _ in range(4)]
self.debug = False
self.speed = 800
self.acc = 500
def user_init(self):
self.dobot.SetColorSensor(1, Settings.COLOR_PORT)
if Settings.HOME_INIT:
self.reset_zero(Settings.HOME_BASE)
if Settings.RIGHT_DEBUG:
for i in range(2):
self.moveToGetPlace(Settings.BLOCKS_ORDINARY[i], -1)
if Settings.COLOR_SERIES is not None and i < len(Settings.COLOR_SERIES):
print(Settings.color_dic[Settings.COLOR_SERIES[i]])
self.gotoColor()
self.moveTo(*Settings.RIGHT_WASTE_POSE)
self.moveToPutPlace((1, 0, 0))
self.moveToPutPlace((0, 1, 0))
self.moveToPutPlace((0, 0, 1))
self.counts = [0 for _ in range(4)]
self.moveTo(z=30)
self.moveTo(*Settings.HOME_BASE)
pass
def work(self):
color = (0, 0, 0)
print("running right")
for i in range(0, 12):
print("block", i)
self.moveToGetPlace(Settings.BLOCKS_ORDINARY[i], ensure_color_index(color), down=10)
self.suck()
self.gotoColor()
if Settings.COLOR_SERIES is not None and i < len(Settings.COLOR_SERIES):
color = Settings.COLOR_SERIES[i]
else:
color = self.readColor(times=10, default=(0, 1, 0))
self.moveToPutPlace(color, down=10)
self.release(up=10)
def moveToGetPlace(self, i, last_color_index, down=0):
pose = self.getGetPose(i)
nowPose = self.dobot.GetPose()[:3]
if nowPose[1] > 100:
should_height = max(self.getShouldHeight(last_color_index, nowPose[2]), Settings.RIGHT_COLOR_BASE[2])
self.moveTo(z=max(nowPose[2], should_height))
self.moveTo(*pose[:2])
pose[2] -= down
self.moveTo(*pose)
def readColor(self, times=1, default=(0, 0, 0)):
for _ in range(times):
color = self.getColor()
if color_exists(color):
hz = 500
for i in range(3):
hz += 200
if color_exists(color[i]):
break
import winsound
winsound.Beep(hz, 300)
print("color ", color)
return color
else:
print("color ", default)
return default
def capture(self, down=15, up=5):
self.moveInc(dz=-down)
self.suck()
time.sleep(0.1)
self.moveInc(dz=up, straight=True)
def release(self, down=0, up=0):
self.moveInc(dz=-down)
self.unsuck()
time.sleep(0.1)
self.moveInc(dz=up)
def gotoColor(self):
pose = self.dobot.GetPose()
if pose[2] < Settings.RIGHT_COLOR_BASE[2]:
self.moveTo(z=Settings.RIGHT_COLOR_BASE[2])
else:
self.moveTo(*Settings.RIGHT_COLOR_BASE[:2])
self.moveTo(*Settings.RIGHT_COLOR_BASE)
def moveToPutPlace(self, color, down=0):
now_pose = self.dobot.GetPose()
if type(color) == tuple or type(color) == list:
index = ensure_color_index(color, -1)
else:
index = color
if now_pose[2] < 60:
self.moveTo(z=60)
if index < 0:
target_pose = list(Settings.RIGHT_WASTE_POSE)
self.counts[3] += 1
print("throw block", self.counts[3])
self.moveTo(z=target_pose[2] + 80)
self.moveTo(*target_pose[:2])
return
target_pose = self.getPutPose(index)
self.counts[index] += 1
print("put", self.counts)
should_height = self.getShouldHeight(index, target_pose[2] - Settings.BLOCK_SIZE)
if should_height > Settings.RIGHT_COLOR_BASE[2]:
self.moveTo(z=max(target_pose[2], should_height + Settings.BLOCK_SIZE))
self.moveTo(*target_pose[:2], r=target_pose[3])
target_pose[2] -= down
self.moveTo(*target_pose)
def getShouldBlocksHeight(self, color_index):
return max(self.counts[color_index + 1:])
def getShouldHeight(self, color_index, target_pose_height):
if color_index < 0:
return target_pose_height
max_blocks = self.getShouldBlocksHeight(color_index)
return max(target_pose_height, Settings.RIGHT_PUT_BASE[2] + max_blocks * Settings.BLOCK_SIZE)
def getPutPose(self, color_index):
target_pose = [0, 0, 0, 0]
target_pose[0] = Settings.RIGHT_PUT_BASE[0] - Settings.RIGHT_PUT_DIS_X * (3 - color_index)
target_pose[1] = Settings.RIGHT_PUT_BASE[1] + Settings.RIGHT_PUT_DIS_Y * (
3 - self.counts[color_index] // Settings.RIGHT_PUT_LIMIT * 3)
target_pose[2] = Settings.RIGHT_PUT_BASE[2] + (
self.counts[color_index] % Settings.RIGHT_PUT_LIMIT + 1) * Settings.BLOCK_SIZE
return target_pose
def blockComes(self):
return 1 in self.getColor()
def getColor(self):
return self.dobot.GetColorSensor()
@staticmethod
def getGetPose(i):
x = i % 10 // 5
y = i % 5
z = i // 10
pose = list(Settings.RIGHT_GET_BASE)
pose[0] += x * Settings.RIGHT_GET_DIS_X
pose[1] -= y * Settings.RIGHT_GET_DIS_Y
pose[2] += z * Settings.BLOCK_SIZE
return pose
if __name__ == '__main__':
right = Robot()
right.setAddr(Robot.search()[0])
right.run()
# right.counts = [0, 2, 3]
# print(right.getShouldBlocksHeight(0))