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import time import time
import threading from glob import glob
import DobotDllType as dType
class Candybot: from pydobot import Dobot
def __init__(self):
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}
#Load Dll available_ports = glob('/dev/cu*usb*') # mask for OSX Dobot port
self.api = dType.load() if len(available_ports) == 0:
print('no port found for Dobot Magician')
exit(1)
#Connect Dobot device = Dobot(port=available_ports[0])
state = dType.ConnectDobot(self.api, "", 115200)[0]
print("Connect status:",CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError): time.sleep(0.5)
device.speed(100)
#Clean Command Queued device.go(250.0, 0.0, 25.0)
dType.SetQueuedCmdClear(self.api) device.speed(10)
device.go(250.0, 0.0, 0.0)
#Async Motion Params Setting time.sleep(2)
dType.SetHOMEParams(self.api, 250, 0, 50, 0, isQueued = 1) device.close()
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)
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