script/local.py

@@ -37,20 +37,47 @@ run("tools/Math")
 #  Device initialization
 ###################################################################################################
 
-import ch.psi.pshell.device.Camera as Camera
-img.camera.setColorMode(Camera.ColorMode.Mono)
-img.camera.setDataType(Camera.DataType.UInt8)
-img.camera.setGrabMode(Camera.GrabMode.Continuous)
-img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
-img.camera.setExposure(50.00)
-img.camera.setAcquirePeriod(200.00)
-img.camera.setGain(0.0)
+try:
+    release_local_safety.write(False)
+    release_psys_safety.write(False)
+except:
+   print  >> sys.stderr, traceback.format_exc()    
 
+try:
+    hexiposi.polling=500    
+except:
+   print  >> sys.stderr, traceback.format_exc()    
 
-release_local_safety.write(False)
-release_psys_safety.write(False)
+try:
+    robot.setPolling(DEFAULT_ROBOT_POLLING)      
+    robot.high_level_tasks = ["mount", "firstmount"]
+    robot.set_tool(TOOL_CALIBRATION)
+    robot.set_motors_enabled(True)
+    robot.set_joint_motors_enabled(True)
+except:
+   print  >> sys.stderr, traceback.format_exc()    
+
+try:
+    import ch.psi.pshell.device.Camera as Camera
+    img.camera.setColorMode(Camera.ColorMode.Mono)
+    img.camera.setDataType(Camera.DataType.UInt8)
+    img.camera.setGrabMode(Camera.GrabMode.Continuous)
+    img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
+    img.camera.setExposure(50.00)
+    img.camera.setAcquirePeriod(200.00)
+    img.camera.setGain(0.0)
+    #img.camera.setROI(200, 0,1200,1200)
+    img.camera.setROI(300, 200,1000,1000)
+    
+    img.config.rotation=17
+    img.config.rotationCrop=True
+    img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900
+    
+    img.camera.stop()
+    img.camera.start()
+except:
+   print  >> sys.stderr, traceback.format_exc()    
 
-hexiposi.polling=500
 
 
 ###################################################################################################