movearm/move.py

@@ -1,104 +1,19 @@
 import time
-import threading
-import DobotDllType as dType
+from glob import glob
 
-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"}
+from pydobot import Dobot
 
-        #Load Dll
-        self.api = dType.load()
+available_ports = glob('/dev/cu*usb*')  # mask for OSX Dobot port
+if len(available_ports) == 0:
+    print('no port found for Dobot Magician')
+    exit(1)
 
-        #Connect Dobot
-        state = dType.ConnectDobot(self.api, "", 115200)[0]
-        print("Connect status:",CON_STR[state])
+device = Dobot(port=available_ports[0])
 
-        if (state == dType.DobotConnect.DobotConnect_NoError):
-
-            #Clean Command Queued
-            dType.SetQueuedCmdClear(self.api)
-
-            #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.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)
+time.sleep(0.5)
+device.speed(100)
+device.go(250.0, 0.0, 25.0)
+device.speed(10)
+device.go(250.0, 0.0, 0.0)
+time.sleep(2)
+device.close()