Moving Examples

• Import the necessary python libraries and modules.

from agribot import Agribot, StubHandler
import threading, time

• Log in and create an Agribot instance.

bot = Agribot.login("zaxrok@gmail.com", "zeta@1234!")

• Create a list of positions to go to.

target_positions = [
    (300, 150, 0),
    (300, 300, 0),
    (300, 450, 0),
    (550, 450, 0),
    (550, 300, 0),
    (550, 150, 0),
    (800, 150, 0),
    (800, 300, 0),
    (800, 450, 0),
    (1050, 450, 0),
    (1050, 300, 0),
    (1050, 150, 0),
]

• Define a custom handler, CustomHandler, with methods:

  • on_connect: Prints a connection confirmation.

  • on_response: Stays idle on bot response.

  • on_change: Prints bot’s current position and disconnects the bot.

  • perform_task: Move the position according to the list, and finally return to the initial position.

class CustomHandler(StubHandler):
    def on_connect(self, bot, client):
        print("Connected to Agribot")
        self.start_task()  # 연결 시 작업 시작

    def on_change(self, bot, state):
        pass

    def on_error(self, bot, response):
        print("Received error response")
        print(response.errors)

    def on_response(self, bot, response):
        pass

    def perform_task(self):
        distance_threshold = 5  # 오차 범위(거리 기준) 설정 (예: 5mm)
        for i, position in enumerate(target_positions):
            remaining_targets = len(target_positions) - i - 1
            print(f"Moving to location {position}... ({remaining_targets} targets remaining)")
            bot.move_absolute(position[0], position[1], position[2])

            # 위치 도달까지 대기
            while True:
                current_position = bot.position()
                x_diff = abs(current_position[0] - position[0])
                y_diff = abs(current_position[1] - position[1])
                z_diff = abs(current_position[2] - position[2])
                if x_diff < distance_threshold and y_diff < distance_threshold and z_diff < distance_threshold:
                    break
                time.sleep(1)  # 1초마다 위치 확인

            print(f"Arrived at location {position}")

            # Z 방향으로 200씩 내려가기
            bot.move_relative(x=0, y=0, z=-200)
            time.sleep(5)  # 내려간 후 5초 대기

            # 내려간 후 제대로 이동했는지 확인
            while True:
                current_position = bot.position()
                z_diff = abs(current_position[2] - (position[2] - 200))
                if z_diff < distance_threshold:
                    break
                time.sleep(1)  # 1초마다 위치 확인

            print(f"Moved down successfully. ({remaining_targets} targets remaining)")

            time.sleep(5)

        # 홈으로 이동
        bot.find_home()
        time.sleep(2)

        # 홈 위치로 이동 후 제대로 도착했는지 확인
        while True:
            current_position = self.bot.position()
            x_diff = abs(current_position[0])
            y_diff = abs(current_position[1])
            z_diff = abs(current_position[2])
            if x_diff < distance_threshold and y_diff < distance_threshold and z_diff < distance_threshold:
                break
            time.sleep(1)  # 1초마다 위치 확인

        print("Moved to home position")

        # 연결 종료
        bot.disconnect()

    def start_task(self):
        # 작업을 별도의 스레드에서 실행
        thread = threading.Thread(target=self.perform_task)
        thread.start()

• Connect the Agribot instance with the CustomHandler instance, resulting in the execution of the defined methods on respective triggers.

handler = CustomHandler()
bot.connect(handler)