# cobotta camera (EVP2)

When using `CobottaCtrl` directly in local mode, always call `disconnect()` on exit, including after an exception or `KeyboardInterrupt`.

## Calibration

The coordinates of the point indicated in the camera image must be aligned with the robot coordinate system.

## Simple example

```python
from cobotta2 import Config, CobottaCtrl, MotionMode

Config.load_yaml("config_cobotta2.yaml")
logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
cobotta = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, arm_name="Arm", logger=logger)

try:
    cobotta.reset_error()
    
    # Number of objects recognized by the camera (used to determine success)
    cobotta.I2 = 0
    
    # Work coordinates that receive the camera recognition result
    # Save the current position as a safe initial position
    cobotta.P10 = cobotta.get_current_position()

    # take_script() and take_camera() are mutually exclusive
    # Release the arm before take_camera() if take_arm() was called
    cobotta.release_arm()
    
    while True:
        logger.info("---------- カメラで画像認識 -------------------")
        
        # Select the recognition model created with EVP2 Guidance
        evp_script_name = "try_camera"
        
        # The filename EVP2_03.pcs is arbitrary, but may overwrite an existing COBOTTA script
        cobotta.take_camera(evp_script_name, "EVP2_03.pcs")
        cobotta.run_script()
    
        cobotta.wait_for_complete()
        logger.info(f"Result(num): {cobotta.I2}")
        if cobotta.I2 == 1:
            break
        logger.error(f"*** ターゲットが見つけられません ***")
        logger.error(f"*** 3sec 後に retry します ***")
        time.sleep(3)
    
    logger.error(f"***")
    logger.info(f"Result(pos): {cobotta.P10}")
    logger.error(f"***")
    
    logger.info("----------- 画像認識のセンターへmove  --------------")
    cobotta.take_arm()
    cobotta.move("P10", motion_mode=MotionMode.LINE, offset=(0,0,0), path_blend="@E", speed=50)
    cobotta.wait_for_complete()
    
except KeyboardInterrupt as e:
    logger.error(e)
except Exception as e:
    loggger.error(e)
finally:
    cobotta.disconnect()

```

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## Author
- Kengo NAKADA