1'''
2Motion - Motion_get_logical_position.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.EMotion()
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 axis = 0
41 stop_decel = 0
42
43 ## Get firmware model & version
44 driver_info = await dev.Sys_getDriverInfo_async()
45 print("Model name: " + driver_info[0])
46 print("Firmware version: " + driver_info[-1])
47
48 ## Motion open
49 err = await dev.Motion_open_async(port)
50 print(f"open_async in port {port}, status: {err}")
51
52 for i in range(100):
53 err = await dev.Motion_setLogicalPosi_async(port, axis, i)
54 if err != 0:
55 print("setLogicalPosi_async ", err)
56 posi = await dev.Motion_getLogicalPosi_async(port, axis)
57 print("getLogicalPosi ", posi)
58
59 ## Motion close
60 err = await dev.Motion_close_async(port)
61 print(f"close_async in port {port}, status: {err}")
62 except Exception as err:
63 pywpc.printGenericError(err)
64
65 ## Disconnect device
66 dev.disconnect()
67
68 ## Release device handle
69 dev.close()
70
71 return
72
73def main_for_spyder(*args):
74 if asyncio.get_event_loop().is_running():
75 return asyncio.create_task(main(*args)).result()
76 else:
77 return asyncio.run(main(*args))
78
79if __name__ == '__main__':
80 asyncio.run(main()) ## Use terminal
81 # await main() ## Use Jupyter or IPython(>=7.0)
82 # main_for_spyder() ## Use Spyder