Package org.openpnp.spi

Examples of org.openpnp.spi.Camera.moveTo()

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          location = location.derive(
                  startX + ((imageWidthInUnits / 2) * currentImageX),
                  startY + ((imageHeightInUnits / 2) * currentImageY),
                  null,
                  null);
          camera.moveTo(location, 1.0);
        // Give the head and camera 500ms to settle
        Thread.sleep(500);
        // We capture two images to make sure that the one we save is
        // not coming from a previous frame.
        image = camera.capture();
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    }
    // Position the camera over the pick location.
    logger.debug("Move camera to mirror location.");

    //move to mirror position
    camera.moveTo(mirrorStartLocation, 1.0);
    camera.moveTo(mirrorMidLocation, 1.0);
    camera.moveTo(mirrorEndLocation, 1.0);

    //do camera magic
    visionX0Offset = visionMgr.getVisionOffsets(head, mirrorEndLocation.derive(null, null, null, 0.0),vision);
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    // Position the camera over the pick location.
    logger.debug("Move camera to mirror location.");

    //move to mirror position
    camera.moveTo(mirrorStartLocation, 1.0);
    camera.moveTo(mirrorMidLocation, 1.0);
    camera.moveTo(mirrorEndLocation, 1.0);

    //do camera magic
    visionX0Offset = visionMgr.getVisionOffsets(head, mirrorEndLocation.derive(null, null, null, 0.0),vision);
    visionY90Offset = visionMgr.getVisionOffsets(head, mirrorEndLocation.derive(null, null, null, 90.0),vision);
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    logger.debug("Move camera to mirror location.");

    //move to mirror position
    camera.moveTo(mirrorStartLocation, 1.0);
    camera.moveTo(mirrorMidLocation, 1.0);
    camera.moveTo(mirrorEndLocation, 1.0);

    //do camera magic
    visionX0Offset = visionMgr.getVisionOffsets(head, mirrorEndLocation.derive(null, null, null, 0.0),vision);
    visionY90Offset = visionMgr.getVisionOffsets(head, mirrorEndLocation.derive(null, null, null, 90.0),vision);
    visionX180Offset = visionMgr.getVisionOffsets(head, mirrorEndLocation.derive(null, null, null, 180.0),vision);
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    Yoffset = visionY90Offset.subtract(visionY270Offset);
//    Zoffset = visionX0Offset.getY();
    Zoffset = 0.0; //TODO: fix Z offset
   
    //move away from mirror position
    camera.moveTo(mirrorEndLocation, 1.0);
    camera.moveTo(mirrorMidLocation, 1.0);
    camera.moveTo(mirrorStartLocation, 1.0);
   
    double offsetX = Xoffset.getX()/2;
    double offsetY = Yoffset.getX()/2;
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//    Zoffset = visionX0Offset.getY();
    Zoffset = 0.0; //TODO: fix Z offset
   
    //move away from mirror position
    camera.moveTo(mirrorEndLocation, 1.0);
    camera.moveTo(mirrorMidLocation, 1.0);
    camera.moveTo(mirrorStartLocation, 1.0);
   
    double offsetX = Xoffset.getX()/2;
    double offsetY = Yoffset.getX()/2;
   
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    Zoffset = 0.0; //TODO: fix Z offset
   
    //move away from mirror position
    camera.moveTo(mirrorEndLocation, 1.0);
    camera.moveTo(mirrorMidLocation, 1.0);
    camera.moveTo(mirrorStartLocation, 1.0);
   
    double offsetX = Xoffset.getX()/2;
    double offsetY = Yoffset.getX()/2;
   
    offsetX *= this.pixelComp; //compensate for calibration distance being different than pick distance
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    head.moveToSafeZ(1.0);
   
    // Position the camera over the pick location.
    logger.debug("Move camera to pick location.");
    camera.moveTo(pickLocation, 1.0);
   
    // Move the camera to be in focus over the pick location.
//    head.moveTo(head.getX(), head.getY(), z, head.getC());
   
    // Settle the camera
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