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) 2022-2024 WPC Systems Ltd. All rights reserved.
12'''
13
14## Python
15import asyncio
16
17## WPC
18
19from wpcsys import pywpc
20
21async def main():
22    ## Get Python driver version
23    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
24
25    ## Create device handle
26    dev = pywpc.EDriveST()
27
28    ## Connect to device
29    try:
30        dev.connect("192.168.1.110") ## Depend on your device
31    except Exception as err:
32        pywpc.printGenericError(err)
33        ## Release device handle
34        dev.close()
35        return
36
37    try:
38        ## Parameters setting
39        port = 0 ## Depend on your device
40
41        ## Get firmware model & version
42        driver_info = await dev.Sys_getDriverInfo_async()
43        print("Model name: " + driver_info[0])
44        print("Firmware version: " + driver_info[-1])
45
46        ## Motion open
47        err = await dev.Motion_open_async(port)
48        print(f"Motion_open, status: {err}")
49
50        ## Motion servo on
51        err = await dev.Motion_enableServoOn_async(port)
52        print(f"Motion_enableServoOn, status: {err}")
53    except Exception as err:
54        pywpc.printGenericError(err)
55    except KeyboardInterrupt:
56        print("Press keyboard")
57    finally:
58        ## Motion stop
59        err = await dev.Motion_stopProcess_async(port)
60        print(f"Motion_stopProcess, status: {err}")
61
62        ## Motion Servo off
63        err = await dev.Motion_enableServoOff_async(port)
64        print(f"Motion_enableServoOff, status: {err}")
65
66        ## Motion close
67        err = await dev.Motion_close_async(port)
68        print(f"Motion_close, status: {err}")
69
70    ## Disconnect device
71    dev.disconnect()
72
73    ## Release device handle
74    dev.close()
75
76def main_for_spyder(*args):
77    if asyncio.get_event_loop().is_running():
78        return asyncio.create_task(main(*args)).result()
79    else:
80        return asyncio.run(main(*args))
81
82if __name__ == '__main__':
83    asyncio.run(main()) ## Use terminal
84    # await main() ## Use Jupyter or IPython(>=7.0)
85    # main_for_spyder() ## Use Spyder