Farben und Pick-Place angepasst and neue nupsis

robot_utils.py

 import phantomController as pc
 import time
 import traceback
-PICK_HIGHT = 15
+PICK_HIGHT = 10 
 LIFT_HIGHT = 100
 GRIP_OPEN = 511
-GRIP_CLOSED = 400
+GRIP_CLOSED = 380
+MOVE_SPEED = 800
 
 class RobotError(Exception):
     """Error during Robot Move"""
@@ -23,19 +24,19 @@ class RobotUtils():
 
     def pick_place(self, start, finish) -> None:
         start.extend([LIFT_HIGHT, 0, 0, -1])
-        self.move_to_pose(start, GRIP_OPEN, 1000)
+        self.move_to_pose(start, GRIP_OPEN, MOVE_SPEED)
         start[2] = PICK_HIGHT
-        self.move_to_pose(start, GRIP_OPEN, 1000)
-        self.move_to_pose(start, GRIP_CLOSED, 1000)
+        self.move_to_pose(start, GRIP_OPEN, MOVE_SPEED)
+        self.move_to_pose(start, GRIP_CLOSED, MOVE_SPEED)
         start[2] = LIFT_HIGHT
-        self.move_to_pose(start, GRIP_CLOSED, 1000)
+        self.move_to_pose(start, GRIP_CLOSED, MOVE_SPEED)
         finish.extend([LIFT_HIGHT, 0, 0, -1])
-        self.move_to_pose(finish, GRIP_CLOSED, 1000)
+        self.move_to_pose(finish, GRIP_CLOSED, MOVE_SPEED)
         finish[2] = PICK_HIGHT 
-        self.move_to_pose(finish, GRIP_CLOSED, 1000)
-        self.move_to_pose(finish, GRIP_OPEN, 1000)
+        self.move_to_pose(finish, GRIP_CLOSED, MOVE_SPEED)
+        self.move_to_pose(finish, GRIP_OPEN, MOVE_SPEED)
         finish[2] = LIFT_HIGHT 
-        self.move_to_pose(finish, GRIP_OPEN, 1000)
+        self.move_to_pose(finish, GRIP_OPEN, MOVE_SPEED)
 
     def disconnect(self) -> None:
         pc.sleep(self.ser)
@@ -44,12 +45,17 @@ class RobotUtils():
 
 if __name__ == "__main__":
     robot = RobotUtils()
-    try:
-        robot.pick_place([130, 120], [50, 120])
-        robot.disconnect()
-    except:
-        print(traceback.format_exc())
+    while True:
+        robot.pick_place([130, 0], [0, 130])
     robot.disconnect()
+    #robot.move_to_pose([40, 250, 20, 0, 0, -1], 511, 1000)
+    #robot.disconnect()
+    #try:
+    #    robot.pick_place([130, 120], [50, 120])
+    #    robot.disconnect()
+    #except:
+    #    print(traceback.format_exc())
+    #    robot.disconnect()
 
 
 

tictactoe.py

@@ -14,8 +14,8 @@ SYMBOLS = {
     Player.undefined: " "
 }
 COLORS = {
-    Player.one: "\033[32m",  # green
-    Player.two: "\033[94m",  # blue
+    Player.one: "\033[91m",  # green
+    Player.two: "\033[32m",  # green 
     Player.undefined: ""
 }
 END_COLOR = "\033[0m"