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Dobot_uhr.py

+import time
+dType.SetEndEffectorSuctionCup(api, 1,  0, 1)
+dType.SetPTPJumpParams(api, 65, 90, isQueued=0)
+dType.SetPTPCommonParams(api, 100, 200, isQueued=0)
+aufbau=True
+#aufbau=False
+t=7
+
+class Block():
+
+	
+	def __init__(self,a):
+    		self.a=a
+		
+	def setPos(self,x,y,z):
+		self.x=x
+		self.y=y
+		self.z=z
+	
+	def setNummer(self,n):
+		self.n=n
+ 
+	def getNummer(self):
+		return self.n
+
+	def getX(self):
+		return self.x
+
+	def getY(self):
+		return self.y
+
+	def getZ(self):
+		return self.z
+
+	def setAV(self,a):
+		self.a=a
+
+	def getAV(self):
+		return self.a
+
+
+
+def get1h(h):
+	if int(h)<10:
+		return 0
+	if 10<=int(h)<20:
+		return 1
+	if 20<=int(h):
+		return 2
+	else:
+		return 0
+		
+	
+def get0h(h):
+	if int(h)<10:
+		return int(h)
+	if 10<=int(h)<20:
+		return int(h)-10
+	if 20<=int(h):
+		return int(h)-20
+
+
+def get1m(m):
+	if int(m)<10:
+		return 0
+	if 10<=int(m)<20:
+		return 1
+	if 20<=int(m)<30:
+		return 2
+	if 30<=int(m)<40:
+		return 3
+	if 40<=int(m)<50:
+		return 4
+	if 50<=int(m):
+		return 5
+
+def get0m(m):
+	if int(m)<10:
+		return int(m)
+	if 10<=int(m)<20:
+		return int(m)-10
+	if 20<=int(m)<30:
+		return int(m)-20
+	if 30<=int(m)<40:
+		return int(m)-30
+	if 40<=int(m)<50:
+		return int(m)-40
+	if 50<=int(m):
+		return int(m)-50
+
+def setStartTime(h,m):
+
+	h1=get1h(h)
+	seth1Time(h1)
+	h0=get0h(h)
+	seth0Time(h0)
+	m1=get1m(m)
+	setm1Time(m1)
+	m0=get0m(m)
+	setm0Time(m0)
+	home()
+		
+
+def seth1Time(h):
+	for i in range (30):
+		print(b[5].getNummer())
+		if (h == b[i].getNummer() and b[i].getAV()==1):
+			if (aufbau == True):
+				dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  1, 1)
+				b[i].setAV(0)
+				dType.SetPTPCmd(api, 0,float(anzeige[0].getX()), float(anzeige[0].getY()), float(anzeige[0].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  0, 1)
+				break
+			else:
+				b[i].setAV(0)
+				time.sleep(t)
+				break
+
+def reseth1Time(h):
+	for i in range (30):
+		if (h == b[i].getNummer() and b[i].getAV()==0):
+			if (aufbau == True):
+				b[i].setAV(1)
+				time.sleep(t)
+				break
+			else:
+				if (h == b[i].getNummer() and b[i].getAV()==0):
+					dType.SetPTPCmd(api, 0,float(anzeige[0].getX()), float(anzeige[0].getY()), float(anzeige[0].getZ()), 40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 1, 1)
+					b[i].setAV(1)
+					dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 0, 1)
+					break
+			
+def seth0Time(h):
+	for i in range (30):
+		if (h == b[i].getNummer() and b[i].getAV()==1):
+			if (aufbau == True):
+				dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  1, 1)
+				b[i].setAV(0)
+				dType.SetPTPCmd(api, 0,float(anzeige[1].getX()), float(anzeige[1].getY()), float(anzeige[1].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  0, 1)
+				break
+			else:
+				b[i].setAV(0)
+				time.sleep(t)
+				break
+
+def reseth0Time(h):
+	for i in range (30):
+		if (h == b[i].getNummer() and b[i].getAV()==0):
+			if (aufbau == True):
+				b[i].setAV(1)
+				time.sleep(t)
+				break
+			else:
+				if (h == b[i].getNummer() and b[i].getAV()==0):
+					dType.SetPTPCmd(api, 0,float(anzeige[1].getX()), float(anzeige[1].getY()), float(anzeige[1].getZ()), 40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 1, 1)
+					b[i].setAV(1)
+					dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 0, 1)
+					break
+	
+def setm1Time(m):
+	for i in range (30):
+		if (m == b[i].getNummer() and b[i].getAV()==1):
+			if (aufbau == True):
+				dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  1, 1)
+				b[i].setAV(0)
+				dType.SetPTPCmd(api, 0,float(anzeige[2].getX()), float(anzeige[2].getY()), float(anzeige[2].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  0, 1)
+				break
+			else:
+				b[i].setAV(0)
+				time.sleep(t)
+				break
+
+def resetm1Time(m):
+	for i in range (30):
+		if (m == b[i].getNummer() and b[i].getAV()==0):
+			if (aufbau == True):
+				b[i].setAV(1)
+				time.sleep(t)
+				break
+			else:
+				if (m == b[i].getNummer() and b[i].getAV()==0):
+					dType.SetPTPCmd(api, 0,float(anzeige[2].getX()), float(anzeige[2].getY()), float(anzeige[2].getZ()), 	40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 1, 1)
+					b[i].setAV(1)
+					dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 0, 1)
+					break
+
+def setm0Time(m):
+	for i in range (30):
+		if (m == b[i].getNummer() and b[i].getAV()==1):
+			if (aufbau == True):
+				dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  1, 1)
+				b[i].setAV(0)
+				dType.SetPTPCmd(api, 0,float(anzeige[2].getX()), float(anzeige[2].getY()), float(anzeige[2].getZ()), 40, 1)
+				dType.SetEndEffectorSuctionCup(api, 1,  0, 1)
+				break
+			else:
+				b[i].setAV(0)
+				time.sleep(t)
+				break 
+
+def resetm0Time(m):
+	for i in range (30):
+		if (m == b[i].getNummer() and b[i].getAV()==0):
+			if (aufbau == True):
+				b[i].setAV(1)
+				time.sleep(t)
+				break
+			else:
+				if (m == b[i].getNummer() and b[i].getAV()==0):
+					dType.SetPTPCmd(api, 0,float(anzeige[3].getX()), float(anzeige[3].getY()), float(anzeige[3].getZ()), 	40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 1, 1)
+					b[i].setAV(1)
+					dType.SetPTPCmd(api, 0,float(b[i].getX()), float(b[i].getY()), float(b[i].getZ()), 40, 1)
+					dType.SetEndEffectorSuctionCup(api, 1, 0, 1)
+					break
+	
+
+
+
+if (aufbau == True):
+	xst=192.0
+	yst=-67.0
+	zst=-71.0
+
+	xa=xst
+	ya=yst-25
+	za=-75.0
+else:
+	xst=297.0
+	yst=63.0
+	zst=-72.0
+
+	xa=xst
+	ya=yst+26
+	za=-75.0
+	
+
+def home():
+	if(aufbau == True ):
+		dType.SetPTPCmd(api, 0,0,-200,0, 40, 1)
+	else:
+		dType.SetPTPCmd(api, 0,0,200,0, 40, 1)
+
+
+anzeige = {}
+for i in range(4):
+    anzeige[i] = Block(0)
+
+for i in range(4):
+	if(aufbau == True):
+		anzeige[i].setPos(xa+i*35,ya,za)
+		#dType.SetPTPCmd(api, 0,xa+i*35,ya ,za, 40, 1)
+	else:
+		anzeige[i].setPos(xa-i*35,ya,za)
+		#dType.SetPTPCmd(api, 0,xa-i*35,ya ,za, 40, 1)
+			
+
+
+b = {}
+for i in range(32):
+    b[i] = Block(1)
+
+
+
+for xi in range(4):
+	for yi in range(8):
+	
+		if(aufbau == True):
+			#print(xi*8+yi)
+			b[xi*8+yi].setPos(xst+xi*35,yst+yi*24 ,zst)
+			#dType.SetPTPCmd(api, 0,xst+xi*35,yst+yi*24  ,zst, 40, 1)
+		else:
+			print(xi*8+yi)
+			b[xi*8+yi].setPos(xst-xi*35,yst-yi*24 ,zst)
+			#dType.SetPTPCmd(api, 0,xst-xi*35,yst-yi*24  ,zst, 40, 1)
+
+b[0].setNummer(0)
+b[1].setNummer(0)
+b[2].setNummer(0)
+b[3].setNummer(0)
+b[4].setNummer(1) 
+b[5].setNummer(1)
+b[6].setNummer(1)
+b[7].setNummer(1)
+b[8].setNummer(2)
+b[9].setNummer(2)
+b[10].setNummer(2)
+b[11].setNummer(2)
+b[12].setNummer(3)
+b[13].setNummer(3)
+b[14].setNummer(3)
+b[15].setNummer(4)
+b[16].setNummer(4)
+b[17].setNummer(4)
+b[18].setNummer(5)
+b[19].setNummer(5)
+b[20].setNummer(5)
+b[21].setNummer(6)
+b[22].setNummer(6)
+b[23].setNummer(7)
+b[24].setNummer(7)
+b[25].setNummer(8)
+b[26].setNummer(8)
+b[27].setNummer(9)
+b[28].setNummer(9)
+
+
+H=time.strftime("%H")
+M=time.strftime("%M")
+
+setStartTime(H,M)
+#aktuelle Zeit
+a1h=get1h(H)
+a0h=get0h(H)
+a1m=get1m(M)
+a0m=get0m(M)
+
+
+while(True):
+	H=time.strftime("%H")
+	M=time.strftime("%M")
+	#print(time.strftime("%H:%M"))
+	
+
+	#old Time
+	o1h=a1h
+	o0h=a0h
+	o1m=a1m
+	o0m=a0m
+	print(o0m)
+
+	#aktuelle Zeit
+	a1h=get1h(H)
+	a0h=get0h(H)
+	a1m=get1m(M)
+	a0m=get0m(M)
+	#print(a0m)
+	dType.SetWAITCmd(api, 1, isQueued=0)
+	
+	if(o1h!=a1h):
+		reseth1Time(o1h)
+
+	if(o0h!=a0h):
+		reseth0Time(o0h)
+
+	if(o1m!=a1m):
+		resetm1Time(o1m)
+
+	if(o0m!=a0m):
+		resetm0Time(o0m)
+
+	if(o1h!=a1h):
+		seth1Time(a1h)
+
+	if(o0h!=a0h):
+		seth0Time(a0h)
+
+	if(o1m!=a1m):
+		setm1Time(a1m)
+
+	if(o0m!=a0m):
+		setm0Time(a0m)
+		home()
+	
+