1'''
2Drive - Drive_find_limit.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 mode = 1 ## 1: forward, -1: reverse.
43 active_high = 1
44 en_forward = 1
45 en_reverse = 1
46 searching_speed = 50000
47 approaching_speed = 10000
48 acceleration = 10000
49 offset = 0
50 reset_position = False
51
52 ## Get firmware model & version
53 driver_info = await dev.Sys_getDriverInfo_async()
54 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
55
56 ## Motion open
57 err = await dev.Motion_open_async(port)
58 print(f"Motion_open, status: {err}")
59
60 ## Motion config
61 err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
62 print(f"Motion_cfgLimit, status: {err}")
63
64 ## Motion reset
65 err = await dev.Motion_rstEncoderPosi_async(port)
66 print(f"Motion_resetEncoder, status: {err}")
67
68 ## Motion Servo on
69 err = await dev.Motion_enableServoOn_async(port)
70 print(f"Motion_enableServoOn, status: {err}")
71
72 ## Motion find reference
73 err = await dev.Motion_startFindLimit_async(port, mode, searching_speed, approaching_speed, acceleration, offset, reset_position)
74 print(f"Motion_startFindLimit, status: {err}")
75
76 status = 1
77 while status != 0:
78 status = await dev.Motion_getProcessState_async(port)
79 if status == 0:
80 print(f"Motion_getProcessState: {status}")
81
82 ## Motion get limit status
83 state_list = await dev.Motion_getLimitStatus_async(port)
84 print(f"Forward limit status: {state_list[0]}")
85 print(f"Reverse limit status: {state_list[1]}")
86 print(f"Home status: {state_list[2]}")
87
88 except Exception as err:
89 pywpc.printGenericError(err)
90 except KeyboardInterrupt:
91 print("Press keyboard")
92 finally:
93 ## Motion stop
94 err = await dev.Motion_stopProcess_async(port)
95 print(f"Motion_stopProcess, status: {err}")
96
97 ## Motion Servo off
98 err = await dev.Motion_enableServoOff_async(port)
99 print(f"Motion_enableServoOff, status: {err}")
100
101 ## Motion close
102 err = await dev.Motion_close_async(port)
103 print(f"Motion_close, status: {err}")
104
105 ## Disconnect device
106 dev.disconnect()
107
108 ## Release device handle
109 dev.close()
110
111
112def main_for_spyder(*args):
113 if asyncio.get_event_loop().is_running():
114 return asyncio.create_task(main(*args)).result()
115 else:
116 return asyncio.run(main(*args))
117
118
119if __name__ == '__main__':
120 asyncio.run(main()) ## Use terminal
121 # await main() ## Use Jupyter or IPython(>=7.0)
122 # main_for_spyder() ## Use Spyder