Encoder read

  1'''
  2Encoder - Encoder_read.py with asynchronous mode.
  3
  4This example demonstrates how to read encoder with USBDAQF1RD.
  5
  6-------------------------------------------------------------------------------------
  7Please change correct serial number or IP and port number BEFORE you run example code.
  8
  9For other examples please check:
 10    https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
 11See README.md file to get detailed usage of this example.
 12
 13Copyright (c) 2022-2025 WPC Systems Ltd. All rights reserved.
 14'''
 15
 16## WPC
 17from wpcsys import pywpc
 18
 19## Python
 20import asyncio
 21import sys
 22sys.path.insert(0, 'src/')
 23
 24
 25async def main():
 26    ## Get Python driver version
 27    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
 28
 29    ## Create device handle
 30    dev = pywpc.USBDAQF1RD()
 31
 32    ## Connect to device
 33    try:
 34        dev.connect("default")  ## Depend on your device
 35    except Exception as err:
 36        pywpc.printGenericError(err)
 37        ## Release device handle
 38        dev.close()
 39        return
 40
 41    try:
 42        ## Parameters setting
 43        channel = 0  ## Depend on your device
 44        direction = 1  ## 1 : Forward, -1 : Reverse
 45        position = 0
 46        window_size = 100
 47
 48        ## Get firmware model & version
 49        driver_info = await dev.Sys_getDriverInfo_async()
 50        print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
 51
 52        ## Open encoder
 53        err = await dev.Encoder_open_async(channel)
 54        print(f"Encoder_open_async in channel {channel}, status: {err}")
 55
 56        ## Set encoder direction
 57        err = await dev.Encoder_setDirection_async(channel, direction)
 58        print(f"Encoder_setDirection_async in channel {channel}, status: {err}")
 59
 60        ## Set encoder position
 61        err = await dev.Encoder_setPosition_async(channel, position)
 62        print(f"Encoder_setPosition_async in channel {channel}, status: {err}")
 63
 64        ## Set encoder frequency window size
 65        err = await dev.Encoder_setFreqWindow_async(channel, window_size)
 66        print(f"Encoder_setFreqWindow_async in channel {channel}, status: {err}")
 67
 68        ## Start encoder
 69        err = await dev.Encoder_start_async(channel)
 70        print(f"Encoder_start_async in channel {channel}, status: {err}")
 71
 72        ## Read encoder position
 73        while True:
 74            posi = await dev.Encoder_readPosition_async(channel)
 75            print(f"Encoder position in channel {channel}: {posi}")
 76    except KeyboardInterrupt:
 77        print("Press keyboard")
 78
 79    except Exception as err:
 80        pywpc.printGenericError(err)
 81
 82    finally:
 83        ## Stop encoder
 84        err = await dev.Encoder_stop_async(channel)
 85        print(f"Encoder_stop_async in channel {channel}, status: {err}")
 86
 87        ## Close encoder
 88        err = await dev.Encoder_close_async(channel)
 89        print(f"Encoder_close_async in channel {channel}, status: {err}")
 90
 91        ## Disconnect device
 92        dev.disconnect()
 93
 94        ## Release device handle
 95        dev.close()
 96
 97
 98def main_for_spyder(*args):
 99    if asyncio.get_event_loop().is_running():
100        return asyncio.create_task(main(*args)).result()
101    else:
102        return asyncio.run(main(*args))
103
104
105if __name__ == '__main__':
106    asyncio.run(main())  ## Use terminal
107    # await main()  ## Use Jupyter or IPython(>=7.0)
108    # main_for_spyder()  ## Use Spyder