Motion 3axis helical interpo

  1'''
  2Motion - Motion_3axis_helical_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        axis = 0
 43        stop_decel = 0
 44
 45        ## Helical parameters
 46        center_x = 0
 47        center_y = 0
 48        finish_x = 100
 49        finish_y = 100
 50        pitch_axis3 = 0
 51        pitch_axis4 = 0
 52        rotation_num = 0
 53        speed = 0
 54        cal_timeout = 1000
 55        helical_dir_cw = 0
 56
 57        ## Get firmware model & version
 58        driver_info = await dev.Sys_getDriverInfo_async()
 59        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 60
 61        ## Motion open
 62        err = await dev.Motion_open_async(port)
 63        print(f"open_async in port {port}, status: {err}")
 64
 65        ## Motion open configuration file
 66        err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
 67        print(f"openCfgFile_async, status: {err}")
 68
 69        ## Motion load configuration file
 70        err = await dev.Motion_loadCfgFile_async()
 71        print(f"loadCfgFile_async, status: {err}")
 72
 73        ## Motion configure
 74        err = await dev.Motion_cfgHelicalInterpo_async(port, center_x, center_y, finish_x, finish_y, int(False), pitch_axis3, int(False), pitch_axis4, rotation_num,
 75                                                       speed, helical_dir_cw, cal_timeout)
 76        print(f"cfgHelicalInterpo_async in axis{axis}, status: {err}")
 77
 78        ## Motion start
 79        err = await dev.Motion_startHelicalInterpo_async(port)
 80        print(f"startHelicalInterpo_async in axis{axis}, status: {err}")
 81
 82        move_status = 0
 83        while move_status == 0:
 84            move_status = await dev.Motion_getMoveStatus_async(port, axis)
 85            print(f"getMoveStatus_async in axis{axis}: {move_status}")
 86
 87        ## Motion stop
 88        err = await dev.Motion_stop_async(port, axis, stop_decel)
 89        print(f"stop_async in axis{axis}, status: {err}")
 90
 91        ## Motion close
 92        err = await dev.Motion_close_async(port)
 93        print(f"close_async in port {port}, status: {err}")
 94    except Exception as err:
 95        pywpc.printGenericError(err)
 96
 97    finally:
 98        ## Disconnect device
 99        dev.disconnect()
100
101        ## Release device handle
102        dev.close()
103
104
105def main_for_spyder(*args):
106    if asyncio.get_event_loop().is_running():
107        return asyncio.create_task(main(*args)).result()
108    else:
109        return asyncio.run(main(*args))
110
111
112if __name__ == '__main__':
113    asyncio.run(main())  ## Use terminal
114    # await main()  ## Use Jupyter or IPython(>=7.0)
115    # main_for_spyder()  ## Use Spyder