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