Drive velocity move

  1'''
  2Drive - Drive_velocity_move.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        speed = 50000
 41        dir = 1
 42        acceleration = 10000
 43        deceleration = 10000
 44        active_high = 1
 45        en_forward = 1
 46        en_reverse = 1
 47
 48        ## Get firmware model & version
 49        driver_info = await dev.Sys_getDriverInfo_async()
 50        print("Model name: " + driver_info[0])
 51        print("Firmware version: " + driver_info[-1])
 52
 53        ## Motion open
 54        err = await dev.Motion_open_async(port)
 55        print(f"Motion_open, status: {err}")
 56
 57        ## Motion configure
 58        err = await dev.Motion_cfgLimit_async(port, en_forward, en_reverse, active_high)
 59        print(f"Motion_cfgLimit, status: {err}")
 60
 61        ## Motion reset
 62        err = await dev.Motion_rstEncoderPosi_async(port)
 63        print(f"Motion_resetEncoderPosi, status: {err}")
 64
 65        ## Motion Servo on
 66        err = await dev.Motion_enableServoOn_async(port)
 67        print(f"Motion_enableServoOn, status: {err}")
 68
 69        ## Motion start
 70        err = await dev.Motion_startVelocticyMove_async(port, speed, dir, acceleration, deceleration)
 71        print(f"Motion_startVelocticyMove, status: {err}")
 72
 73        ## Wait for seconds for moving
 74        await asyncio.sleep(3) ## delay [s]
 75    except Exception as err:
 76        pywpc.printGenericError(err)
 77    except KeyboardInterrupt:
 78        print("Press keyboard")
 79    finally:
 80        ## Motion stop
 81        err = await dev.Motion_stopProcess_async(port)
 82        print(f"Motion_stopProcess, status: {err}")
 83
 84        ## Motion Servo off
 85        err = await dev.Motion_enableServoOff_async(port)
 86        print(f"Motion_enableServoOff, status: {err}")
 87
 88        ## Motion close
 89        err = await dev.Motion_close_async(port)
 90        print(f"Motion_close, status: {err}")
 91
 92    ## Disconnect device
 93    dev.disconnect()
 94
 95    ## Release device handle
 96    dev.close()
 97
 98def main_for_spyder(*args):
 99    if asyncio.get_event_loop().is_running():
100        return asyncio.create_task(main(*args)).result()
101    else:
102        return asyncio.run(main(*args))
103
104if __name__ == '__main__':
105    asyncio.run(main()) ## Use terminal
106    # await main() ## Use Jupyter or IPython(>=7.0)
107    # main_for_spyder() ## Use Spyder