# Type help("robolink") or help("robodk") for more information
# Press F5 to run the script
# Documentation: https://robodk.com/doc/en/RoboDK-API.html
# Reference:     https://robodk.com/doc/en/PythonAPI/index.html
# Note: It is not required to keep a copy of this file, your python script is saved with the station
from robolink import *    # RoboDK API
from robodk import *      # Robot toolbox
RDK = Robolink()
#robot=RDK.Item('Mitsubishi RV-7FL')
robot = RDK.ItemUserPick('Select a robot', ITEM_TYPE_ROBOT)
if not robot.Valid():
    raise Exception('No robot selected or available')

P1=RDK.Item('Targetc 1')
P2=RDK.Item('Targetc 2')
# It is important to provide the reference frame and the tool frames when generating programs offline
robot.setPoseFrame(robot.PoseFrame())
robot.setPoseTool(robot.PoseTool())
robot.setZoneData(10) # Set the rounding parameter (Also known as: CNT, APO/C_DIS, ZoneData, Blending radius, cornering, ...)
robot.setSpeed(200) # Set linear speed in mm/s
reg = [1]
reg[0] = 1
#if reg[1] == 0:
if reg[0] == 0:
  print("states")
  robot.MoveJ(P1)
  robot.MoveL(P2)
else:
  robot.MoveJ(P2)
  robot.MoveJ(P1)
  time.sleep(2)