통합예제 - DR_VS_COGNEX, DR_VS_SICK

vs_set_info(DR_VS_COGNEX)                     # Select type of vision sensor
if ( vs_connect("192.168.137.10") != 0 ):           # Vision IP, Default port
   tp_popup("connection fail",DR_PM_MESSAGE)   
   exit() 

vis_posx_init = posx (410,310,300,0,0,0)          # Define the initial posx data - vision
rob_posx_init1 = posx (400,300,300,0,180,0)      # Define the initial posx data - robot
rob_posx_init2 = posx (420,320,300,0,180,0)       # Define the initial posx data - robot

vs_set_init_pos(vis_posx_init, rob_posx_init1, VS_POS1) # Enter the initial posx data to Vision 
vs_set_init_pos(vis_posx_init, rob_posx_init2, VS_POS2)

for i in range(10):
   pos_meas, var_list = vs_trigger()      # Execute the vision meausrement 
   if pos_meas==-1:                   # Vision Fail to measure the object
       tp_popup("Vision measure fail")
       continue
   if var_list[0] == 1:                    # Check the inspection result
        # Get guided posx data
       rob_posx1_meas = vs_get_offset_pos(pos_meas, VS_POS1) # offset the robot pose 
       rob_posx2_meas = vs_get_offset_pos(pos_meas, VS_POS2) # offset the robot pose
       movel(rob_posx1_meas)
       movel(rob_posx2_meas)
   else:
       tp_popup("Inspection Fail")
       continue

vs_disconnect()