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) 2022-2025 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 ## Get firmware model & version
46 driver_info = await dev.Sys_getDriverInfo_async()
47 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
48
49 ## Motion open
50 err = await dev.Motion_open_async(port)
51 print(f"open_async in port {port}, status: {err}")
52
53 for i in range(100):
54 err = await dev.Motion_setLogicalPosi_async(port, axis, i)
55 if err != 0:
56 print("setLogicalPosi_async ", err)
57 posi = await dev.Motion_getLogicalPosi_async(port, axis)
58 print("getLogicalPosi ", posi)
59
60 ## Motion close
61 err = await dev.Motion_close_async(port)
62 print(f"close_async in port {port}, status: {err}")
63 except Exception as err:
64 pywpc.printGenericError(err)
65
66 finally:
67 ## Disconnect device
68 dev.disconnect()
69
70 ## Release device handle
71 dev.close()
72
73
74def main_for_spyder(*args):
75 if asyncio.get_event_loop().is_running():
76 return asyncio.create_task(main(*args)).result()
77 else:
78 return asyncio.run(main(*args))
79
80
81if __name__ == '__main__':
82 asyncio.run(main()) ## Use terminal
83 # await main() ## Use Jupyter or IPython(>=7.0)
84 # main_for_spyder() ## Use Spyder