master
adligeerik 6 years ago
parent 0fbc0c02e0
commit a954326103

@ -1,19 +1,100 @@
import time import time
from glob import glob import threading
import DobotDllType as dType
from pydobot import Dobot class Candybot:
def __init__(self):
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}
available_ports = glob('/dev/cu*usb*') # mask for OSX Dobot port #Load Dll
if len(available_ports) == 0: self.api = dType.load()
print('no port found for Dobot Magician')
exit(1)
device = Dobot(port=available_ports[0]) #Connect Dobot
state = dType.ConnectDobot(self.api, "", 115200)[0]
print("Connect status:",CON_STR[state])
time.sleep(0.5) if (state == dType.DobotConnect.DobotConnect_NoError):
device.speed(100)
device.go(250.0, 0.0, 25.0) #Clean Command Queued
device.speed(10) dType.SetQueuedCmdClear(self.api)
device.go(250.0, 0.0, 0.0)
time.sleep(2) #Async Motion Params Setting
device.close() 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.SetJOGCommonParams(self.api, 100, 100, isQueued = 1)
#linear rail
dType.SetDeviceWithL(self.api, 1)
dType.SetJOGLParams(self.api, 50, 50, isQueued=0)
#Async Home
dType.SetHOMECmd(self.api, temp = 0, isQueued = 1)
def disconnect(self):
#Disconnect Dobot
dType.DisconnectDobot(self.api)
def base(self, direction):
if direction == 1:
dType.SetJOGCmd(self.api,1,1)
elif direction == -1:
dType.SetJOGCmd(self.api,1,2)
else :
return
threading.Timer(0.1,self.stop).start()
def rearArm(self, direction):
if direction == 1:
dType.SetJOGCmd(self.api,1,3)
elif direction == -1:
dType.SetJOGCmd(self.api,1,4)
else :
return
threading.Timer(0.1,self.stop).start()
def forearm(self, direction):
if direction == 1:
dType.SetJOGCmd(self.api,1,5)
elif direction == -1:
dType.SetJOGCmd(self.api,1,6)
else :
return
threading.Timer(0.1,self.stop).start()
def gripperRotation(self, direction):
if direction == 1:
dType.SetJOGCmd(self.api,1,7)
elif direction == -1:
dType.SetJOGCmd(self.api,1,8)
else :
return
threading.Timer(0.1,self.stop).start()
def linear(self, direction):
if direction == 1:
dType.SetJOGCmd(self.api,1,9)
elif direction == -1:
dType.SetJOGCmd(self.api,1,10)
else :
return
threading.Timer(0.1,self.stop).start()
def stop(self):
dType.SetJOGCmd(self.api, 1, 0)
def panic(self):
dType.SetQueuedCmdForceStopExec(self.api)
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