Motion 2axis linear interpo

  1'''
  2Motion - Motion_2axis_linear_interpolation.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.EMotion()
 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        stop_decel = 0
 43
 44        ## Linear interpolation parameters
 45        axis1 = 0
 46        dest_posi1 = 2000
 47        axis2 = 1
 48        dest_posi2 = 2000
 49
 50        ## Get firmware model & version
 51        driver_info = await dev.Sys_getDriverInfo_async()
 52        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 53
 54        ## Motion open
 55        err = await dev.Motion_open_async(port)
 56        print(f"open_async in port {port}, status: {err}")
 57
 58        ## Motion open configuration file
 59        err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
 60        print(f"openCfgFile_async, status: {err}")
 61
 62        ## Motion load configuration file
 63        err = await dev.Motion_loadCfgFile_async()
 64        print(f"loadCfgFile_async, status: {err}")
 65
 66        ## Motion configure
 67        err = await dev.Motion_cfg2AxisLinearInterpo_async(port, axis1, dest_posi1, axis2, dest_posi2, speed=2000, accel=100000, decel=100000)
 68        print(f"cfg2AxisLinearInterpo_async in axis{axis1} and {axis2}, status: {err}")
 69
 70        ## Motion start
 71        err = await dev.Motion_startLinearInterpo_async(port)
 72        print(f"startLinearInterpo_async in port {port}, status: {err}")
 73
 74        move_status = 0
 75        while move_status == 0:
 76            axis1_move_status = await dev.Motion_getMoveStatus_async(port, axis1)
 77            axis2_move_status = await dev.Motion_getMoveStatus_async(port, axis2)
 78            move_status = axis1_move_status & axis2_move_status
 79            if move_status == 0:
 80                print("Moving......")
 81            else:
 82                print("Move completed")
 83
 84        ## Motion stop
 85        for i in [axis1, axis2]:
 86            err = await dev.Motion_stop_async(port, i, stop_decel)
 87            print(f"stop_async axis{i}, status: {err}")
 88
 89        ## Motion close
 90        err = await dev.Motion_close_async(port)
 91        print(f"close_async in port {port}, status: {err}")
 92    except Exception as err:
 93        pywpc.printGenericError(err)
 94
 95    finally:
 96        ## Disconnect device
 97        dev.disconnect()
 98
 99        ## Release device handle
100        dev.close()
101
102
103def main_for_spyder(*args):
104    if asyncio.get_event_loop().is_running():
105        return asyncio.create_task(main(*args)).result()
106    else:
107        return asyncio.run(main(*args))
108
109
110if __name__ == '__main__':
111    asyncio.run(main())  ## Use terminal
112    # await main()  ## Use Jupyter or IPython(>=7.0)
113    # main_for_spyder()  ## Use Spyder