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49 lines
1.4 KiB
49 lines
1.4 KiB
6 years ago
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import threading
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import DobotDllType as dType
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CON_STR = {
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dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
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dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
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dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}
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#Load Dll
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api = dType.load()
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#Connect Dobot
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state = dType.ConnectDobot(api, "", 115200)[0]
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print("Connect status:",CON_STR[state])
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if (state == dType.DobotConnect.DobotConnect_NoError):
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#Clean Command Queued
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dType.SetQueuedCmdClear(api)
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#Async Motion Params Setting
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dType.SetHOMEParams(api, 250, 0, 50, 0, isQueued = 1)
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dType.SetPTPJointParams(api, 200, 200, 200, 200, 200, 200, 200, 200, isQueued = 1)
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dType.SetPTPCommonParams(api, 100, 100, isQueued = 1)
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#Async Home
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dType.SetHOMECmd(api, temp = 0, isQueued = 1)
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#Async PTP Motion
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for i in range(0, 5):
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if i % 2 == 0:
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offset = 50
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else:
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offset = -50
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lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 200 + offset, offset, offset, offset, isQueued = 1)[0]
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#Start to Execute Command Queued
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dType.SetQueuedCmdStartExec(api)
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#Wait for Executing Last Command
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while lastIndex > dType.GetQueuedCmdCurrentIndex(api)[0]:
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dType.dSleep(100)
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#Stop to Execute Command Queued
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dType.SetQueuedCmdStopExec(api)
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#Disconnect Dobot
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dType.DisconnectDobot(api)
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