commit by robo pro coding

lib/GUI.py

@@ -43,6 +43,7 @@ def loop_th():
     global _tr0, _tr, _dg, Loop
     while True:
         if Loop:
+            grip()
             display.set_attr("txt_button_acknowledge.enabled", str(False).lower())
             display.set_attr("txt_button_park.enabled", str(False).lower())
             display.set_attr("txt_button_test.enabled", str(False).lower())
@@ -51,20 +52,13 @@ def loop_th():
             display.set_attr("txt_button_pos0.enabled", str(False).lower())
             display.set_attr("txt_button_pos1.enabled", str(False).lower())
             display.set_attr("txt_button_pos2.enabled", str(False).lower())
+            moveAbs_VGR_P123_name('SLD white')
+            setDownPickUp()
             moveAbs_VGR_P123_name('SLD red')
-            release()
-            moveRel_VGR_S123(0, 150, 0)
-            time.sleep(1)
-            moveRel_VGR_S123(0, -150, 0)
-            grip()
-            moveRel_VGR_S123(0, 150, 0)
+            setDownPickUp()
             moveAbs_VGR_P123_name('SLD blue')
-            release()
-            moveRel_VGR_S123(0, -150, 0)
+            setDownPickUp()
             time.sleep(1)
-            moveRel_VGR_S123(0, -150, 0)
-            grip()
-            moveRel_VGR_S123(0, 150, 0)
             display.set_attr("txt_button_acknowledge.enabled", str(True).lower())
             display.set_attr("txt_button_park.enabled", str(True).lower())
             display.set_attr("txt_button_test.enabled", str(True).lower())
@@ -73,7 +67,19 @@ def loop_th():
             display.set_attr("txt_button_pos0.enabled", str(True).lower())
             display.set_attr("txt_button_pos1.enabled", str(True).lower())
             display.set_attr("txt_button_pos2.enabled", str(True).lower())
-        time.sleep(1)
+            release()
+
+
+def setDownPickUp():
+    global _tr0, _tr, _dg, Loop
+    moveRel_VGR_S123(0, 50, 0)
+    release()
+    time.sleep(1)
+    moveRel_VGR_S123(0, -200, 0)
+    time.sleep(1)
+    moveRel_VGR_S123(0, 200, 0)
+    grip()
+    moveRel_VGR_S123(0, -200, 0)
 
 
 def on_txt_button_grip_clicked(event):

lib/VGR.blockly

@@ -447,13 +447,6 @@
                             <field name="NUM">300</field>
                           </shadow>
                         </value>
-                        <next>
-                          <block type="import_function_noreturn" id="3RjX:N;bsRitY|QUV(Tq">
-                            <mutation parentId="lLp,7M[A#R-Sg7jVc:u("/>
-                            <field name="name">moveRef_VGR_S23</field>
-                            <data>lLp,7M[A#R-Sg7jVc:u(</data>
-                          </block>
-                        </next>
                       </block>
                     </next>
                   </block>

lib/VGR.py

@@ -76,7 +76,6 @@ def grip():
     time.sleep(0.2)
     TXT_VGR_M_O8_magnetic_valve.on()
     time.sleep(0.3)
-    moveRef_VGR_S23()
 
 
 def release():