def connect(self):
state = dType.ConnectDobot(self.DobotAPI, "", 115200)
if state[0] != dType.DobotConnect.DobotConnect_NoError:
raise ValueError("Failed to connect dobot. ", CON_STR[state[0]])
dType.SetQueuedCmdClear(self.DobotAPI)
dType.SetHOMEParams(self.DobotAPI,
self.home_x,
self.home_y,
self.home_z,
0,
isQueued=1)
def __init__(self, width, height, start_x, start_y):
# initialize state
self.state = None
# scale factor
self.scale_x = 1.0
self.scale_y = 1.0
# x-y coordinate of start position
self.start_x = start_x
self.start_y = start_y
# load dll
self.api = dType.load()
self.CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
# dimensions of actual engraving area
self.width = width
self.height = height
def getPose(self):
if self.production:
pose = dType.GetPose(self.DobotAPI)
pose[1] = pose[1] / Y_OFFSET
else:
pose = [200, 0, 0]
return pose[:3]
def __init__(self, home_x=200, home_y=0, home_z=50, production=False):
self.production = production
if production:
self.DobotAPI = dType.load()
self.home_x = home_x
self.home_y = home_y
self.home_z = home_z
if production:
self.connect()
def moveXYZ(self, x, y, z, r=0, mode="movl", sleep_sec=0.4):
if self.production:
ptp_mode = dType.PTPMode.PTPMOVLXYZMode
if mode == 'jump':
ptp_mode = dType.PTPMode.PTPJUMPXYZMode
idx = dType.SetPTPCmd(self.DobotAPI,
ptp_mode,
x,
y * Y_OFFSET,
z,
r,
isQueued=1)[0]
self.sleep(sleep_sec)
else:
print("try to move ({x}, {y}, {z})".format(x=x, y=y, z=z))
idx = -1
return idx
def sleep(self, s):
if self.production:
dType.dSleep(s)
def getCurrentIndex(self):
return dType.GetQueuedCmdCurrentIndex(self.DobotAPI)
def stopQueue(self):
dType.SetQueuedCmdStopExec(self.DobotAPI)
dType.SetQueuedCmdClear(self.DobotAPI)
dType.SetQueuedCmdStartExec(self.DobotAPI)
def startQueue(self):
dType.SetQueuedCmdStartExec(self.DobotAPI)
def setHOME(self):
dType.SetHOMECmd(self.DobotAPI, temp=0, isQueued=1)
def setHOMEParam(self, x, y, z):
dType.SetHOMEParams(self.DobotAPI, x, y, z, 0, isQueued=1)
def disconnect(self):
dType.DisconnectDobot(self.DobotAPI)
def move_sequence(self, command_list):
"""command list contains 4-tuples in the form of (G.., x, y, on/off)"""
self.command_list = command_list
lastIndex = 0
# calculate scaling
self.get_scale(command_list)
if self.state == dType.DobotConnect.DobotConnect_NoError:
# Clean Command Queue
dType.SetQueuedCmdClear(self.api)
# Async Motion Params Setting
dType.SetHOMEParams(self.api, 250, 0, 50, 0, isQueued=1)
dType.SetPTPJointParams(self.api,
300,
300,
300,
300,
300,
300,
300,
300,
isQueued=1)
dType.SetPTPCommonParams(self.api, 100, 100, isQueued=1)
# home the robot
dType.SetHOMECmd(self.api, temp=0, isQueued=1)
# start filling up command queue; first move robot to starting point
lastIndex = dType.SetPTPCmd(self.api,
dType.PTPMode.PTPMOVLXYZMode,
self.start_x,
self.start_y,
50,
0,
isQueued=1)[0]
# loop through list of gcode commands and create command queue
for point in self.command_list:
if point[3] == 'OFF':
lastIndex = dType.SetEndEffectorLaser(self.api,
1,
0,
isQueued=1)[0]
elif point[3] == 'ON':
lastIndex = dType.SetEndEffectorLaser(self.api,
1,
1,
isQueued=1)[0]
elif point[3] == '0':
x_offset = self.scale_x * point[2]
y_offset = self.scale_y * point[1]
# print(x_offset, y_offset)
# point coordinates from the start position
lastIndex = dType.SetPTPCmd(self.api,
dType.PTPMode.PTPMOVLXYZMode,
self.start_x + x_offset,
self.start_y - y_offset,
50,
0,
isQueued=1)[0]
# end the command queue by turning off the laser and moving back to start position
lastIndex = dType.SetEndEffectorLaser(self.api, 1, 0,
isQueued=1)[0]
lastIndex = dType.SetPTPCmd(self.api,
dType.PTPMode.PTPMOVLXYZMode,
self.start_x,
self.start_y,
50,
0,
isQueued=1)[0]
# start the queue of commands
dType.SetQueuedCmdStartExec(self.api)
# Wait until last command (index) has been executed successfully
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
# must be 100 or more, if not steps will be skipped
dType.dSleep(100)
# Stop executing commands in command queue
dType.SetQueuedCmdStopExec(self.api)
# clean queued commands
dType.SetQueuedCmdClear(self.api)
time.sleep(1)
def connect(self, port):
# Connect Dobot
self.port = port
self.state = dType.ConnectDobot(self.api, self.port, 115200)[0]
print("Connect status:", self.CON_STR[self.state])
def disconnect(self):
# Disconnect Dobot
dType.DisconnectDobot(self.api)