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Copy pathdisplacementloctest.py
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45 lines (40 loc) · 1.49 KB
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import pygame
import driver.fanucfrontend as ffe
MOUSE_LEFT = 1
MOUSE_MIDDLE = 2
MOUSE_RIGHT = 3
def main():
frontend = ffe.FANUCFrontEnd("http://10.162.12.191")
frontend.reset()
frontend.stop_motion()
frontend.start_motion()
status = frontend.get_status()
pos = status['position']
pygame.display.set_mode((500, 500))
dimension = 0
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
frontend.stop_motion()
exit(0)
elif event.type == pygame.MOUSEBUTTONDOWN:
pygame.event.set_grab(True)
dimension = event.button
print("Pressed")
elif event.type == pygame.MOUSEBUTTONUP:
pygame.event.set_grab(False)
print("Released")
elif event.type == pygame.MOUSEMOTION:
if pygame.event.get_grab():
if dimension == MOUSE_LEFT: # X, Y
pos[0] += event.rel[0]
pos[1] += event.rel[1]
elif dimension == MOUSE_MIDDLE: # Y, Z
pos[1] += event.rel[0]
pos[2] += event.rel[1]
elif dimension == MOUSE_RIGHT: # X, Z
pos[0] += event.rel[0]
pos[2] += event.rel[1]
frontend.send_motion_request(pos[0], pos[1], pos[2], pos[3], pos[4], pos[5], "lca")
if __name__ == "__main__":
main()