1'''
2Drive - Drive_find_home.py with asynchronous mode.
3
4-------------------------------------------------------------------------------------
5Please change correct serial number or IP and port number BEFORE you run example code.
6
7For other examples please check:
8 https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
9See README.md file to get detailed usage of this example.
10
11Copyright (c) 2022-2025 WPC Systems Ltd. All rights reserved.
12'''
13
14## WPC
15from wpcsys import pywpc
16
17## Python
18import asyncio
19import sys
20sys.path.insert(0, 'src/')
21
22
23async def main():
24 ## Get Python driver version
25 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
26
27 ## Create device handle
28 dev = pywpc.EDriveST()
29
30 ## Connect to device
31 try:
32 dev.connect("192.168.1.110") ## Depend on your device
33 except Exception as err:
34 pywpc.printGenericError(err)
35 ## Release device handle
36 dev.close()
37 return
38
39 try:
40 ## Parameters setting
41 port = 0 ## Depend on your device
42 searching_speed = 50000
43 approaching_speed = 10000
44 acceleration = 10000
45 search_direction = 1 ## 1: pointing to forward, -1: pointing to reverse.
46 approach_direction = 1 ## 1: pointing to forward, -1: pointing to reverse.
47 offset = 0
48 reset_position = False
49 en_forward = 1
50 en_reverse = 1
51 active_high = 1
52
53 ## Get firmware model & version
54 driver_info = await dev.Sys_getDriverInfo_async()
55 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
56
57 ## Motion open
58 err = await dev.Motion_open_async(port)
59 print(f"Motion_open, status: {err}")
60
61 ## Motion config
62 err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
63 print(f"Motion_cfgLimit, status: {err}")
64
65 ## Motion reset
66 err = await dev.Motion_rstEncoderPosi_async(port)
67 print(f"Motion_resetEncoder, status: {err}")
68
69 ## Motion Servo on
70 err = await dev.Motion_enableServoOn_async(port)
71 print(f"Motion_enableServoOn, status: {err}")
72
73 ## Motion find reference
74 err = await dev.Motion_startFindHome_async(port, searching_speed, approaching_speed, acceleration, search_direction, approach_direction, offset, reset_position)
75 print(f"Motion_startFindHome, status: {err}")
76
77 status = 1
78 while status != 0:
79 status = await dev.Motion_getProcessState_async(port)
80 if status == 0:
81 print(f"Motion_getProcessState: {status}")
82
83 ## Motion get limit status
84 state_list = await dev.Motion_getLimitStatus_async(port)
85 print(f"Forward limit status: {state_list[0]}")
86 print(f"Reverse limit status: {state_list[1]}")
87 print(f"Home status: {state_list[2]}")
88
89 except Exception as err:
90 pywpc.printGenericError(err)
91 except KeyboardInterrupt:
92 print("Press keyboard")
93 finally:
94 ## Motion stop
95 err = await dev.Motion_stopProcess_async(port)
96 print(f"Motion_stopProcess, status: {err}")
97
98 ## Motion Servo off
99 err = await dev.Motion_enableServoOff_async(port)
100 print(f"Motion_enableServoOff, status: {err}")
101
102 ## Motion close
103 err = await dev.Motion_close_async(port)
104 print(f"Motion_close, status: {err}")
105
106 ## Disconnect device
107 dev.disconnect()
108
109 ## Release device handle
110 dev.close()
111
112
113def main_for_spyder(*args):
114 if asyncio.get_event_loop().is_running():
115 return asyncio.create_task(main(*args)).result()
116 else:
117 return asyncio.run(main(*args))
118
119
120if __name__ == '__main__':
121 asyncio.run(main()) ## Use terminal
122 # await main() ## Use Jupyter or IPython(>=7.0)
123 # main_for_spyder() ## Use Spyder