from vcScript import * app = getApplication() sim = app.Simulation comp = getComponent() #Behaviours do Componente servo = comp.findBehaviour('Servo Controller') actuatorFW = comp.findBehaviour('ActuatorFW') actuatorBW = comp.findBehaviour('ActuatorBW') platformUP = comp.findBehaviour('PlatformUP') platformDOWN = comp.findBehaviour('PlatformDOWN') sensor_optico = comp.findNode('Sensor_optico').findBehaviour('ComponentSignal') #sinal do sensor optico esteira_inf = comp.findNode('Esteira_Inferior').findBehaviour('Path') #Behaviours Externos esteira_sup = app.findComponent('Esteira_Superior').findNode('Esteira_Superior').findBehaviour('Path_2') pallet = app.findComponent('Esteira_Circular').findNode('Sensor_41').findBehaviour('Signal_Component_41') #Funções da estação def ActuatorFW(): servo_valActuatorFW = 35 servo.setJointTarget(1, servo_valActuatorFW) servo.move() def ActuatorBW(): servo_valActuatorBW = 0 servo.setJointTarget(1,servo_valActuatorBW) servo.move() def PlatformUP(): global up, down servo_valPlatformUP = 115 servo.setJointTarget(0,servo_valPlatformUP) servo.move() up = True down = False def PlatformDOWN(): global up, donw servo_valPlatformDOWN = 0 servo.setJointTarget(0,servo_valPlatformDOWN) servo.move() up = False down = True def PlatMedUP(): servo_valPlatMesUP = 31 servo.setJointTarget(2,servo_valPlatMesUP) servo.move() def PlatMedDOWN(): servo_valPlatMesDOWN = 0 servo.setJointTarget(2,servo_valPlatMesDOWN) servo.move() def PieceSensor(): global part part = sensor_optico.Value #------------------------# def OnSignal( signal ): global kiwi val = signal.Value kiwi.append( val ) def OnRun(): global kiwi, part, up, down kiwi = part = [] up = False down = True while sim.IsRunning == True: delay(0.1) triggerCondition(lambda:kiwi) if actuatorFW.Value == True: if up == True: esteira_sup.grab(part) delay(0.1) conv_pallet = pallet.Value conv_pallet.grab(part) elif down == True: PieceSensor() esteira_inf.grab(part) ActuatorFW() if actuatorBW.Value == True: ActuatorBW() if platformUP.Value == True: PieceSensor() PlatformUP() if platformDOWN.Value == True: PlatformDOWN() PieceSensor()