Motion position blending

  1'''
  2Motion - Motion_position_blending.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        two_pulse_mode = 1
 44        rel_posi_mode = 1
 45        stop_decel = 0
 46        new_position = 0
 47
 48        ## Axis and encoder parameters
 49        axis_dir_cw = 0
 50        encoder_dir_cw = 0
 51
 52        ## Polarity and enable parameters
 53        active_low = 0
 54        active_high = 1
 55        forward_enable_true = 1
 56        reverse_enable_true = 1
 57        home_enable_false = 0
 58
 59        ## Get firmware model & version
 60        driver_info = await dev.Sys_getDriverInfo_async()
 61        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 62
 63        ## Motion open
 64        err = await dev.Motion_open_async(port)
 65        print(f"open_async in port {port}, status: {err}")
 66
 67        '''
 68        ## Motion open configuration file
 69        err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
 70        print(f"openCfgFile_async, status: {err}")
 71
 72        ## Motion load configuration file
 73        err = await dev.Motion_loadCfgFile_async()
 74        print(f"loadCfgFile_async, status: {err}")
 75        '''
 76
 77        ## Motion configure
 78        err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
 79        print(f"cfgAxis_async in axis{axis}, status: {err}")
 80
 81        err = await dev.Motion_cfgLimit_async(port, axis, forward_enable_true, reverse_enable_true, active_low)
 82        print(f"cfgLimit_async in axis{axis}, status: {err}")
 83
 84        err = await dev.Motion_cfgHome_async(port, axis, home_enable_false, active_low)
 85        print(f"cfgHome_async in axis{axis}, status: {err}")
 86
 87        err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=-5000, velo=10000, accel=100000, decel=100000)
 88        print(f"cfgAxisMove_async in axis{axis}, status: {err}")
 89
 90        err = await dev.Motion_rstEncoderPosi_async(port, axis, encoder_posi=0)
 91        print(f"rstEncoderPosi_async in axis{axis}, status: {err}")
 92
 93        ## Servo on
 94        err = await dev.Motion_enableServoOn_async(port, axis)
 95        print(f"enableServoOn_async in axis{axis}, status: {err}")
 96
 97        ## Motion start
 98        err = await dev.Motion_startSingleAxisMove_async(port, axis)
 99        print(f"startSingleAxisMove_async in axis{axis}, status: {err}")
100
101        move_status = 0
102        while move_status == 0:
103            err = await dev.Motion_overrideAxisPosi_async(port, axis, new_position)
104            # print(f"overrideAxisPosi_async in axis{axis}, status: {err}")
105            move_status = await dev.Motion_getMoveStatus_async(port, axis)
106            logical_posi = await dev.Motion_getLogicalPosi_async(port, axis)
107            encoder_posi = await dev.Motion_getEncoderPosi_async(port, axis)
108            print(f"logical_posi: {logical_posi}, encoder_posi: {encoder_posi}")
109
110        ## Motion stop
111        err = await dev.Motion_stop_async(port, axis, stop_decel)
112        print(f"stop_async in axis{axis}, status: {err}")
113
114        ## Servo off
115        err = await dev.Motion_enableServoOff_async(port, axis)
116        print(f"enableServoOff_async in axis{axis}, status: {err}")
117
118        ## Motion close
119        err = await dev.Motion_close_async(port)
120        print(f"close_async in port {port}, status: {err}")
121    except Exception as err:
122        pywpc.printGenericError(err)
123
124    finally:
125        ## Disconnect device
126        dev.disconnect()
127
128        ## Release device handle
129        dev.close()
130
131
132def main_for_spyder(*args):
133    if asyncio.get_event_loop().is_running():
134        return asyncio.create_task(main(*args)).result()
135    else:
136        return asyncio.run(main(*args))
137
138
139if __name__ == '__main__':
140    asyncio.run(main())  ## Use terminal
141    # await main()  ## Use Jupyter or IPython(>=7.0)
142    # main_for_spyder()  ## Use Spyder