Drive servo on

 1'''
 2Drive - Drive_servo_on.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
43        ## Get firmware model & version
44        driver_info = await dev.Sys_getDriverInfo_async()
45        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
46
47        ## Motion open
48        err = await dev.Motion_open_async(port)
49        print(f"Motion_open, status: {err}")
50
51        ## Motion servo on
52        err = await dev.Motion_enableServoOn_async(port)
53        print(f"Motion_enableServoOn, status: {err}")
54    except Exception as err:
55        pywpc.printGenericError(err)
56    except KeyboardInterrupt:
57        print("Press keyboard")
58    finally:
59        ## Motion stop
60        err = await dev.Motion_stopProcess_async(port)
61        print(f"Motion_stopProcess, status: {err}")
62
63        ## Motion Servo off
64        err = await dev.Motion_enableServoOff_async(port)
65        print(f"Motion_enableServoOff, status: {err}")
66
67        ## Motion close
68        err = await dev.Motion_close_async(port)
69        print(f"Motion_close, status: {err}")
70
71        ## Disconnect device
72        dev.disconnect()
73
74        ## Release device handle
75        dev.close()
76
77
78def main_for_spyder(*args):
79    if asyncio.get_event_loop().is_running():
80        return asyncio.create_task(main(*args)).result()
81    else:
82        return asyncio.run(main(*args))
83
84
85if __name__ == '__main__':
86    asyncio.run(main())  ## Use terminal
87    # await main()  ## Use Jupyter or IPython(>=7.0)
88    # main_for_spyder()  ## Use Spyder