从robolink进口* # API与RoboDK from robodk import * # library for basic matrix operations import datetime from PIL import Image import time # Use RoboDK API RDK = Robolink() # Set Variables robot = RDK.Item('Mecademic Meca500x') red = (227, 0, 0) # RGB value for red green = (0, 227, 0) # RGB value for green blue = (0, 0, 227) # RGB value for blue delay = 3 # time delay seconds # Set Program Variables StartUp = RDK.Item('StartUp') PP1 = RDK.Item('PP1') PP2 = RDK.Item('PP2') PP3 = RDK.Item('PP3') PP4 = RDK.Item('PP4') PP5 = RDK.Item('PP5') PP6 = RDK.Item('PP6') PP7 = RDK.Item('PP7') PP8 = RDK.Item('PP8') PA12 = RDK.Item('PA12') PA23 = RDK.Item('PA23') PA34 = RDK.Item('PA34') PA45 = RDK.Item('PA45') PA56 = RDK.Item('PA56') PA67 = RDK.Item('PA67') PA78 = RDK.Item('PA78') PA8HOME = RDK.Item('PA8HOME') #Define Subprograms ## User Selects the color to keep def get_choice(): options = ["RED", "BLUE", "GREEN"] print("Hi, Baxter will remove any unwanted color block") print("Options are RED, GREEN and BLUE") while True: choice1 = input("Which color would you like to keep?\n") selection = choice1.upper() # Make input uppercase if selection in options: return selection else: print(selection,"is not an option. Please try again") choice = get_choice() print("You have chosen",choice) # Run Decision Program with trajectories StartUp.RunCode() # Starts Up the Simulation file_name = RDK.getParam('PATH_OPENSTATION') + "/Image1.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA12.RunCode() elif choice == "BLUE" and color == blue: PA12.RunCode() elif choice == "GREEN" and color == green: PA12.RunCode() else: PP1.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image2.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA23.RunCode() elif choice == "BLUE" and color == blue: PA23.RunCode() elif choice == "GREEN" and color == green: PA23.RunCode() else: PP2.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image3.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA34.RunCode() elif choice == "BLUE" and color == blue: PA34.RunCode() elif choice == "GREEN" and color == green: PA34.RunCode() else: PP3.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image4.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA45.RunCode() elif choice == "BLUE" and color == blue: PA45.RunCode() elif choice == "GREEN" and color == green: PA45.RunCode() else: PP4.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image5.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA56.RunCode() elif choice == "BLUE" and color == blue: PA56.RunCode() elif choice == "GREEN" and color == green: PA56.RunCode() else: PP5.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image6.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA67.RunCode() elif choice == "BLUE" and color == blue: PA67.RunCode() elif choice == "GREEN" and color == green: PA67.RunCode() else: PP6.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image7.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA78.RunCode() elif choice == "BLUE" and color == blue: PA78.RunCode() elif choice == "GREEN" and color == green: PA78.RunCode() else: PP7.RunCode() file_name = RDK.getParam('PATH_OPENSTATION') + "/Image8.png" RDK.Cam2D_Snapshot(file_name) time.sleep(delay) img = Image.open(file_name) # Open picture of cube color = img.getpixel((320,240)) print (color) if choice == "RED" and color == red: PA8HOME.RunCode() elif choice == "BLUE" and color == blue: PA8HOME.RunCode() elif choice == "GREEN" and color == green: PA8HOME.RunCode() else: PP8.RunCode()