Drive position blending

  1'''
  2Drive - Drive_position_blending.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        position = -80000
 43        position1 = 80000
 44        position2 = -80000
 45        speed = 50000
 46        acceleration = 10000
 47        deceleration = 10000
 48        mode = 1  ## 0: absolute, 1: relative.
 49        active_high = 1
 50        en_forward = 1
 51        en_reverse = 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 configure
 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 start
 74        err = await dev.Motion_startPositionMove_async(port, position, speed, acceleration, deceleration, mode)
 75        print(f"Motion_startPositionMove, 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 start
 84        err = await dev.Motion_startPositionMove_async(port, position1, speed, acceleration, deceleration, mode)
 85        print(f"Motion_startPositionMove, status: {err}")
 86
 87        status = 1
 88        while status != 0:
 89            status = await dev.Motion_getProcessState_async(port)
 90            if status == 0:
 91                print(f"Motion_getProcessState: {status}")
 92
 93        ## Motion start
 94        err = await dev.Motion_startPositionMove_async(port, position2, speed, acceleration, deceleration, mode)
 95        print(f"Motion_startPositionMove, status: {err}")
 96
 97        status = 1
 98        while status != 0:
 99            status = await dev.Motion_getProcessState_async(port)
100            if status == 0:
101                print(f"Motion_getProcessState: {status}")
102
103    except Exception as err:
104        pywpc.printGenericError(err)
105    except KeyboardInterrupt:
106        print("Press keyboard")
107    finally:
108        ## Motion stop
109        err = await dev.Motion_stopProcess_async(port)
110        print(f"Motion_stopProcess, status: {err}")
111
112        ## Motion Servo off
113        err = await dev.Motion_enableServoOff_async(port)
114        print(f"Motion_enableServoOff, status: {err}")
115
116        ## Motion close
117        err = await dev.Motion_close_async(port)
118        print(f"Motion_close, status: {err}")
119
120        ## Disconnect device
121        dev.disconnect()
122
123        ## Release device handle
124        dev.close()
125
126
127def main_for_spyder(*args):
128    if asyncio.get_event_loop().is_running():
129        return asyncio.create_task(main(*args)).result()
130    else:
131        return asyncio.run(main(*args))
132
133
134if __name__ == '__main__':
135    asyncio.run(main())  ## Use terminal
136    # await main()  ## Use Jupyter or IPython(>=7.0)
137    # main_for_spyder()  ## Use Spyder