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118 lines
3.4 KiB
118 lines
3.4 KiB
import time
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import threading
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import DobotDllType as dType
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class Candybot:
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def __init__(self):
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CON_STR = {
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dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
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dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
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dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}
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#Load Dll
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self.api = dType.load()
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#Connect Dobot
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state = dType.ConnectDobot(self.api, "", 115200)[0]
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print("Connect status:",CON_STR[state])
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if (state == dType.DobotConnect.DobotConnect_NoError):
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#Clean Command Queued
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dType.SetQueuedCmdClear(self.api)
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#Async Motion Params Setting
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dType.SetHOMEParams(self.api, 250, 0, 50, 0, isQueued = 1)
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dType.SetJOGJointParams(self.api, 200, 200, 200, 200, 200, 200, 200, 200, isQueued = 1)
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dType.SetJOGCommonParams(self.api, 100, 100, isQueued = 1)
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#linear rail
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dType.SetDeviceWithL(self.api, 1)
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dType.SetJOGLParams(self.api, 200, 200, isQueued=0)
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#Async Home
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dType.SetHOMECmd(self.api, temp = 0, isQueued = 1)
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def disconnect(self):
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#Disconnect Dobot
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dType.DisconnectDobot(self.api)
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def base(self, direction):
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if direction == 1:
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dType.SetJOGCmd(self.api,1,1)
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elif direction == -1:
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dType.SetJOGCmd(self.api,1,2)
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else :
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return
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threading.Timer(0.1,self.stop).start()
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#dType.SetWAITCmd(self.api, 1, isQueued=0)
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#dType.SetJOGCmd(self.api, 1, 0)
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def rearArm(self, direction):
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if direction == 1:
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dType.SetJOGCmd(self.api,1,3)
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elif direction == -1:
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dType.SetJOGCmd(self.api,1,4)
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else :
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return
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#dType.SetWAITCmd(self.api, 1, isQueued=0)
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#dType.SetJOGCmd(self.api, 1, 0)
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threading.Timer(0.1,self.stop).start()
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def forearm(self, direction):
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if direction == 1:
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dType.SetJOGCmd(self.api,1,5)
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elif direction == -1:
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dType.SetJOGCmd(self.api,1,6)
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else :
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return
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#dType.SetWAITCmd(self.api, 1, isQueued=0)
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#dType.SetJOGCmd(self.api, 1, 0)
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threading.Timer(0.1,self.stop).start()
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def gripperRotation(self, direction):
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if direction == 1:
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dType.SetJOGCmd(self.api,1,7)
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elif direction == -1:
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dType.SetJOGCmd(self.api,1,8)
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else :
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return
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#dType.SetWAITCmd(self.api, 1, isQueued=0)
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#dType.SetJOGCmd(self.api, 1, 0)
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threading.Timer(0.1,self.stop).start()
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def linear(self, direction):
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if direction == 1:
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dType.SetJOGCmd(self.api,1,9)
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elif direction == -1:
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dType.SetJOGCmd(self.api,1,10)
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else :
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return
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#dType.SetWAITCmd(self.api, 1, isQueued=0)
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#dType.SetJOGCmd(self.api, 1, 0)
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threading.Timer(0.1,self.stop).start()
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def gripp(self):
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dType.SetEndEffectorGripper(self.api, 1, 1, isQueued=0)
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def letgo(self):
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dType.SetEndEffectorGripper(self.api, 1, 0, isQueued=0)
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def stop(self):
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dType.SetJOGCmd(self.api, 1, 0)
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def stopcmp(self):
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dType.SetEndEffectorGripper(self.api, 0, 0, isQueued=0)
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def panic(self):
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dType.SetQueuedCmdForceStopExec(self.api) |