comands work

movearm/move.py

@@ -23,12 +23,12 @@ class Candybot:
 
             #Async Motion Params Setting
             dType.SetHOMEParams(self.api, 250, 0, 50, 0, isQueued = 1)
-            dType.SetJOGJointParams(self.api, 50, 50, 50, 50, 50, 50, 50, 50, isQueued = 1)
+            dType.SetJOGJointParams(self.api, 200, 200, 200, 200, 200, 200, 200, 200, isQueued = 1)
             dType.SetJOGCommonParams(self.api, 100, 100, isQueued = 1)
 
             #linear rail
             dType.SetDeviceWithL(self.api, 1)
-            dType.SetJOGLParams(self.api,  50, 50, isQueued=0)
+            dType.SetJOGLParams(self.api,  200, 200, isQueued=0)
 
             #Async Home
             dType.SetHOMECmd(self.api, temp = 0, isQueued = 1)
@@ -47,6 +47,8 @@ class Candybot:
         else :
             return
         threading.Timer(0.1,self.stop).start()
+        #dType.SetWAITCmd(self.api, 1, isQueued=0)
+        #dType.SetJOGCmd(self.api, 1, 0)
 
     def rearArm(self, direction):
         if direction == 1:
@@ -57,8 +59,9 @@ class Candybot:
 
         else :
             return
-        dType.SetWAITCmd(api, 1, isQueued=0)
-        #threading.Timer(0.1,self.stop).start()
+        #dType.SetWAITCmd(self.api, 1, isQueued=0)
+        #dType.SetJOGCmd(self.api, 1, 0)
+        threading.Timer(0.1,self.stop).start()
 
     def forearm(self, direction):
         if direction == 1:
@@ -69,8 +72,9 @@ class Candybot:
 
         else :
             return
-        dType.SetWAITCmd(api, 1, isQueued=0)
-        #threading.Timer(0.1,self.stop).start()
+        #dType.SetWAITCmd(self.api, 1, isQueued=0)
+        #dType.SetJOGCmd(self.api, 1, 0)
+        threading.Timer(0.1,self.stop).start()
 
     def gripperRotation(self, direction):
         if direction == 1:
@@ -81,8 +85,9 @@ class Candybot:
 
         else :
             return
-        dType.SetWAITCmd(api, 1, isQueued=0)
-        #threading.Timer(0.1,self.stop).start()
+        #dType.SetWAITCmd(self.api, 1, isQueued=0)
+        #dType.SetJOGCmd(self.api, 1, 0)
+        threading.Timer(0.1,self.stop).start()
 
     def linear(self, direction):
         if direction == 1:
@@ -93,12 +98,21 @@ class Candybot:
 
         else :
             return
-        dType.SetWAITCmd(api, 1, isQueued=0)
-        #threading.Timer(0.1,self.stop).start()
+        #dType.SetWAITCmd(self.api, 1, isQueued=0)
+        #dType.SetJOGCmd(self.api, 1, 0)
+        threading.Timer(0.1,self.stop).start()
 
+    def gripp(self):
+        dType.SetEndEffectorGripper(self.api, 1,  1, isQueued=0)
+    
+    def letgo(self):
+        dType.SetEndEffectorGripper(self.api, 1,  0, isQueued=0)
 
     def stop(self):
         dType.SetJOGCmd(self.api, 1, 0)
 
+    def stopcmp(self):
+        dType.SetEndEffectorGripper(self.api, 0,  0, isQueued=0)
+
     def panic(self):
         dType.SetQueuedCmdForceStopExec(self.api)