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