waitcmd

movearm/move.py

@@ -1,19 +1,104 @@
 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
+        dType.SetWAITCmd(api, 1, isQueued=0)
+        #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
+        dType.SetWAITCmd(api, 1, isQueued=0)
+        #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
+        dType.SetWAITCmd(api, 1, isQueued=0)
+        #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
+        dType.SetWAITCmd(api, 1, isQueued=0)
+        #threading.Timer(0.1,self.stop).start()
+
+
+    def stop(self):
+        dType.SetJOGCmd(self.api, 1, 0)
+
+    def panic(self):
+        dType.SetQueuedCmdForceStopExec(self.api)