#!/usr/bin/python
# ROBOT ARM CONTROL PROGRAM Template (with hints)
# 
# Programming For Testers Workshop BTD 2014
# Phill Isles, Graham Thomas - 2014
#
### identifies hints



#INITIALISATION
# Import the USB and Time libraries into Python 
import usb.core, usb.util, time

# Allocate the name 'RoboArm' to the USB device
RoboArm = usb.core.find(idVendor=0x1267, idProduct=0x0000)

# Check if the arm is detected and warn if not
if RoboArm is None:
	raise ValueError("Arm not found")
print "Arm Present"

### Do not amend code before this point
### Amend code below


### You will need a viable to control the loop

# Shoulder
### while loop 7 tiems
	RoboArm.ctrl_transfer(0x40,6,0x100,0,[128, 0, 0],1000)	# Move shoulder up
	time.sleep(0.5)											# Time for movement
	RoboArm.ctrl_transfer(0x40,6,0x100,0,[0,0,0],1000)		# Stop movement
	time.sleep(1)											# Pause arm before next command

# Elbow
### while Loop 5 times
	RoboArm.ctrl_transfer(0x40,6,0x100,0,[16, 0, 0],1000)	# Move Elbow Down
	time.sleep(0.5)											# Time for movement
	RoboArm.ctrl_transfer(0x40,6,0x100,0,[0,0,0],1000)		# Stop movement
	time.sleep(1)											# Pause arm before next command

# Gripper
### Do once					      
RoboArm.ctrl_transfer(0x40,6,0x100,0,[2, 0, 0],1000)	# Open Gripper Jaws
time.sleep(0.5)											# Time for Movement
RoboArm.ctrl_transfer(0x40,6,0x100,0,[0,0,0],1000)		# Stop movement
time.sleep(1)											# Pause arm before next command

### input prompt ask if target hit


### If check target hit and print success