def read_plc(plc_ip, tag_name):
plc = ClxDriver()
if plc.open(plc_ip):
tag_value = plc.read_tag(tag_name)[0]
plc.close()
return tag_value
else:
print("Unable to open: ", plc_ip)
def read_plc(ipaddress: str, tag_name: str):
result = None
c = ClxDriver()
try:
c.open(ipaddress)
is_open = True
except:
is_open = False
return False
return c.read_tag(tag_name)
def enip_read(plc_ip, tag_name):
"""Read a plc tag and print the rx data
"""
plc = ClxDriver()
if plc.open(plc_ip):
print(plc.read_tag(tag_name))
plc.close()
else:
print("Unable to open", plc_ip)
def enip_write(plc_ip, tag_name, value, tag_type):
"""Write a plc tag and print the resutl
:value: TODO
:tag_type: TODO
"""
plc = ClxDriver()
if plc.open(plc_ip):
print(plc.write_tag(tag_name, value, tag_type))
plc.close()
else:
print("Unable to open", plc_ip)
def write_plc(plc_ip, tag_name, value, tag_type):
plc = ClxDriver()
if plc.open(plc_ip):
if plc.write_tag(tag_name, value, tag_type):
print("Success")
print("Target: " + plc_ip)
print("Tag Name: " + tag_name)
print("Value: " + str(value))
print("Tag Type: " + tag_type)
else:
print("Failed to write to " + plc_ip)
plc.close()
else:
print("Unable to open: ", plc_ip)
def test_plc_write(plc_ip, tag_name, value, tag_type):
"""Write a plc tag and print a BOOL status code.
:plc_ip: TODO
:tag_name: TODO
:value: TODO
:tag_type: TODO
"""
plc = ClxDriver()
if plc.open(plc_ip):
print(plc.write_tag(tag_name, value, tag_type))
plc.close()
else:
print("Unable to open", plc_ip)
def test_plc_read_val(plc_ip, tag_name):
"""Read a plc tag and print the rx data
:plc_ip:
:tag_name:
"""
plc = ClxDriver()
if plc.open(plc_ip):
tagg = plc.read_tag(tag_name)
plc.close()
return (tagg)
else:
print("Unable to open", plc_ip)
def reset(self):
c = PLCDriver()
if c.open(plc_ip):
pos_tag = 'nerfgun_position_fire'
motor_tag = 'trigger_motor_on'
fire_tag = 'trigger_bullet_fire'
c.write_tag((pos_tag, 1, 'BOOL'))
c.write_tag((motor_tag, 0, 'BOOL'))
c.write_tag((fire_tag, 0, 'BOOL'))
print('Resetting Position')
self.triggerBtn.setText(" Drop Gun ")
self.motorBtn.setText(" Start Motor ")
self.triggerBtn.setText(" Fire Bullets ")
c.close()
def write_tag(addr, tag, val, plc_type="CLX"):
"""Write a tag value to the PLC."""
direct = plc_type == "Micro800"
clx = ClxDriver()
if clx.open(addr, direct_connection=direct):
try:
prevval = clx.read_tag(tag)
if direct:
time.sleep(1)
write_result = clx.write_tag(tag, val, prevval[1])
return write_result
except Exception:
print("Error during writeTag({}, {}, {})".format(addr, tag, val))
err = clx.get_status()
clx.close()
print(err)
return False
clx.close()
return False
def main(argv):
ip = ''
read_register = ''
write_register = ''
values = ''
number = 0
try:
opts, args = getopt.getopt(argv,"hi:r:n:w:v:")
except getopt.GetoptError:
print 'plc.py -i <ip> -r <read register> -w <write register> -n <num to read> -v <value1 value2>'
sys.exit(2)
for opt, arg in opts:
if opt in ("-h","--help"):
print 'plc.py -i <ip> -r <read register> -w <write register> -n <num to read> -v <value1,value2>'
sys.exit()
elif opt in ("-i","--ip"):
ip = arg
elif opt in ("-r", "--read"):
read_register = arg
elif opt in ("-n", "--number"):
number = arg
elif opt in ("-w", "--write"):
write_register = arg
elif opt in ("-v", "--value"):
values = arg
#c = SlcDriver()
c = ClxDriver()
if c.open(ip):
if(write_register and values):
c.write_tag(write_register, map(int, values.split()))
if(read_register):
vals = c.read_tag([read_register])
if(isinstance(vals, list)):
vals=map(str, vals)
print " ".join(vals)
else:
print vals
# print c.write_tag('N7:0', [-30, 32767, -32767])
# print c.write_tag('N7:0', 21)
# print c.read_tag('N7:0', 10)
# c.write_tag('B3/3955', 1)
# print c.read_tag('B3/3955')
# c.write_tag('N7:0/2', 1)
# print c.read_tag('N7:0/2')
c.close()
def trigger(self):
c = PLCDriver()
if c.open(plc_ip):
tag = 'trigger_bullet_fire'
r_tag = c.read_tag([str(tag)])
value = int(r_tag[0][1])
if (value == 0):
w_tag = c.write_tag((tag, 1, 'BOOL'))
self.triggerBtn.setText(" Stop Firing ")
print('Firing On')
elif (value == 1):
w_tag = c.write_tag((tag, 0, 'BOOL'))
self.triggerBtn.setText(" Fire Bullets ")
print('Firing Off')
else:
print('Error!')
c.close()
def motor(self):
c = PLCDriver()
if c.open(plc_ip):
tag = 'trigger_motor_on'
r_tag = c.read_tag([str(tag)])
value = int(r_tag[0][1])
if (value == 0):
w_tag = c.write_tag((tag, 1, 'BOOL'))
self.motorBtn.setText(" Stop Motor ")
print('Motor On')
elif (value == 1):
w_tag = c.write_tag((tag, 0, 'BOOL'))
self.motorBtn.setText(" Start Motor ")
print('Motor Off')
else:
print('Error!')
c.close()
def position_gun(self):
c = PLCDriver()
if c.open(plc_ip):
tag = 'nerfgun_position_fire'
r_tag = c.read_tag([str(tag)])
value = int(r_tag[0][1])
if (value == 0):
w_tag = c.write_tag((tag, 1, 'BOOL'))
self.positionBtn.setText(" Drop Gun ")
print('Moving Up')
elif (value == 1):
w_tag = c.write_tag((tag, 0, 'BOOL'))
self.positionBtn.setText(" Hide Gun ")
print('Moving Down')
else:
print('Error!')
c.close()
def read_tag(addr, tag, plc_type="CLX"):
"""Read a tag from the PLC."""
direct = plc_type == "Micro800"
addr = str(addr)
c = ClxDriver()
try:
if c.open(addr, direct_connection=direct):
try:
if type(tag) == type([]):
read_values = []
for t in tag:
read_values.append(c.read_tag(t))
return read_values
else:
return c.read_tag(tag)
return v
except DataError as e:
c.close()
time.sleep(TAG_DATAERROR_SLEEPTIME)
print("Data Error during readTag({}, {}, plc_type='{}'): {}".
format(addr, tag, plc_type, e))
else:
raise DataError("no data")
except CommError:
# err = c.get_status()
c.close()
print("Could not connect during readTag({}, {})".format(addr, tag))
# print err
except AttributeError as e:
c.close()
print("AttributeError during readTag({}, {}): \n{}".format(
addr, tag, e))
c.close()
mylog.write(response.read() + '\n')
print(response.read())
except Exception as e:
mylog.write("Failed to contact Web App" + '/n')
mylog.write(e + '/n')
mylog.flush()
# Main function
if __name__ == '__main__':
runloop = 1
var_init()
mylog.write('Session information from ' + str(datetime.datetime.now()) +
'\n')
c = ClxDriver()
mylog.write(str(c['port']) + '\n')
print c['port']
mylog.write(str(c.__version__) + '\n')
print c.__version__
print tag1
mylog.flush()
# attempt to open connection to PLC
if c.open(plcip):
while runloop == 1:
try:
# Read value of tag. Only using a single tag currently, future enhancements to enable multiple
myMachineStop = str(c.read_tag(tag1))
# Data is returned as comma seperated and in paranthesis. Removing formatting to isolate just values
myMachineStop = myMachineStop.replace("(", "")
def __init__(self):
# initialize a thread safe queue
# load queue with a single plc obj
self.plc = ClxDriver()
self.mutex = Lock()
class EIPFunctions:
def __init__(self):
# initialize a thread safe queue
# load queue with a single plc obj
self.plc = ClxDriver()
self.mutex = Lock()
def is_connected(self):
with self.mutex:
return self.plc.is_connected()
def connect_plc(self, ip):
with self.mutex:
self.plc.open(ip)
return self.plc.is_connected()
def disconnect_plc(self):
with self.mutex:
if self.plc.is_connected():
self.plc.close()
def read_tag(self, tag_name):
with self.mutex:
return self.plc.read_tag(tag_name)[0]
def write_tag(self, tag_name, tag_value, tag_type):
"""
:param tag_name: tag name, or an array of tuple containing (tag name, value, data type)
:param tag_value: the value to write or none if tag is an array of tuple or a tuple
:param tag_type: the type of the tag to write or none if tag is an array of tuple or a tuple
:return: None is returned in case of error otherwise the tag list is returned
The type accepted are:
- BOOL
- SINT
- INT'
- DINT
- REAL
- LINT
- BYTE
- WORD
- DWORD
- LWORD
"""
with self.mutex:
return self.plc.write_tag(tag_name, tag_value, tag_type)
def read_tag_string(self, tag_name):
with self.mutex:
return self.plc.read_string(tag_name)
def write_tag_string(self, tag_name, tag_value):
with self.mutex:
return self.plc.write_string(tag_name, tag_value)
def read_tag_array(self, tag_name, count):
with self.mutex:
return self.plc.read_array(tag_name, count)
def write_tag_array(self, tag_name, tag_array, tag_type):
with self.mutex:
self.plc.write_array(tag_name, tag_array, tag_type)
# always return true; pycomm is not telling us if we succeed or not
return True
# Fires when 'longgun' appears in message
def parse_msg(message,fp):
t_end = time.time() + 60 * .02
t_end2 = time.time() + 60 * .058
if "longgun" in message:
motor_state(t_end)
fire_bullets(t_end2)
hide_gun()
while "longgun" in message:
message = fp.readline()
if __name__ == '__main__':
c = ClxDriver()
print('PLC Port Number: ' + str(c['port']))
print('Driver Version: ' + str( c.__version__))
# Path for AK47 Detection Program
filepath = "/home/nvidia/Documents/yolov2/capturedetect"
# IP address for PLC
if c.open('192.168.0.203'):
with open(filepath) as fp:
while 1:
line = fp.readline()
try:
print(line.rstrip())
from pycomm.ab_comm.clx import Driver as ClxDriver
import logging
from time import sleep
if __name__ == '__main__':
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
c = ClxDriver()
print c['port']
print c.__version__
if c.open('172.16.2.161'):
while 1:
try:
print(c.read_tag(['ControlWord']))
print(c.read_tag(['parts', 'ControlWord', 'Counts']))
print(c.write_tag('Counts', -26, 'INT'))
print(c.write_tag(('Counts', 26, 'INT')))
print(c.write_tag([('Counts', 26, 'INT')]))
print(
c.write_tag([('Counts', -26, 'INT'),
('ControlWord', -30, 'DINT'),
('parts', 31, 'DINT')]))
sleep(1)
except Exception as e:
c.close()
from pycomm.ab_comm.clx import Driver as ClxDriver
import logging
from time import sleep
if __name__ == "__main__":
logging.basicConfig(
filename="ClxDriver.log", format="%(levelname)-10s %(asctime)s %(message)s", level=logging.DEBUG
)
c = ClxDriver()
print c["port"]
print c.__version__
if c.open("172.16.2.161"):
while 1:
try:
print (c.read_tag(["ControlWord"]))
print (c.read_tag(["parts", "ControlWord", "Counts"]))
print (c.write_tag("Counts", -26, "INT"))
print (c.write_tag(("Counts", 26, "INT")))
print (c.write_tag([("Counts", 26, "INT")]))
print (c.write_tag([("Counts", -26, "INT"), ("ControlWord", -30, "DINT"), ("parts", 31, "DINT")]))
sleep(1)
except Exception as e:
err = c.get_status()
c.close()
print err
from pycomm.ab_comm.clx import Driver as ClxDriver
import logging
from time import sleep
if __name__ == '__main__':
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
c = ClxDriver()
print c['port']
print c.__version__
if c.open('192.168.0.167', 3):
try:
# r_array = c.read_array("F20_CreamReceoption.Tickets",2)
# print r_array
# for tag in r_array:
# print (tag)
# x = c.read_tag(['Python_Teste_01'])
# print x[0][1]
# print(c.read_tag(['F20_CreamReceoption']))
# print(c.read_tag('Python_Teste_03'))
# print(c.read_tag(['Python_Teste_04']))
print(c.read_string('F20_CreamReceoption.Tickets[0].StartTime'))
# print(c.read_tag(['parts', 'ControlWord', 'Counts']))
# print(c.write_string('Python_Teste_06', 'Flex Automacao'))
# print(c.write_tag(('TankSelectedToExpedition', 26, 'INT')))
def _connect(self):
# each instance of ClxDriver can open connection to only 1 host
# subsequent calls to open() are quietly ignored, and close()
# does not take any args, so one host per block instance for now
self.cnxn = ClxDriver()
self.cnxn.open(self.host())
class CLXReadTag(EnrichSignals, Retry, Block):
host = StringProperty(title='Host Address', order=0)
tags = Property(title='Tags', order=1)
version = VersionProperty('0.2.0')
def __init__(self):
super().__init__()
self.cnxn = None
def before_retry(self, *args, **kwargs):
self._disconnect()
self._connect()
def configure(self, context):
super().configure(context)
try:
self._connect()
except Exception:
self.cnxn = None
msg = 'Unable to connect to {}'.format(self.host())
self.logger.exception(msg)
def stop(self):
super().stop()
self._disconnect()
def process_signals(self, signals):
host = self.host()
output_signals = []
if self.cnxn is None:
try:
msg = 'Not connected to {}, reconnecting...'.format(host)
self.logger.warning(msg)
self._connect()
except Exception:
self.cnxn = None
msg = 'Unable to connect to {}'.format(host)
self.logger.exception(msg)
return
for signal in signals:
tag = self.tags(signal)
try:
value = self.execute_with_retry(self._make_request, tag)
except Exception:
value = False
self.cnxn = None
msg = 'read_tag failed, host: {}, tag: {}'
self.logger.exception(msg.format(host, tag))
continue
if not isinstance(value[0], tuple):
# read_tag only includes the tag name in the return value
# when reading a list of tags, so we include it here
value = (tag, ) + value
new_signal_dict = {'host': host, 'value': value}
new_signal = self.get_output_signal(new_signal_dict, signal)
output_signals.append(new_signal)
self.notify_signals(output_signals)
def _connect(self):
# each instance of ClxDriver can open connection to only 1 host
# subsequent calls to open() are quietly ignored, and close()
# does not take any args, so one host per block instance for now
self.cnxn = ClxDriver()
self.cnxn.open(self.host())
def _disconnect(self):
if self.cnxn is not None:
self.cnxn.close()
self.cnxn = None
def _make_request(self, tag):
return self.cnxn.read_tag(tag)
def PI_PLC(Head_Angle_Current):
PLC = ClxDriver()
print("Opening Connection To PLC...")
if PLC.open('192.168.1.150'):
print("*********************************")
PLC_Known_Head_Angle, _ = PLC.read_tag(
"R_PI_User_Head_Angle"
) # Read the current head angle the PLC knows of
print("PLC_Known_Head_Angle: " + str(PLC_Known_Head_Angle)
) # Print the current head angle the PLC knows of
print("Head_Angle_Current: " + str(Head_Angle_Current)
) # Print the head angle passed into this argument
PLC.write_tag('R_PI_User_Head_Angle', Head_Angle_Current,
'INT') # Tell the PLC the new angle
PLC.write_tag(
'R_PI_Comm_Check', random.randint(-25, 25), 'INT'
) # Send a random value to the PLC to make sure data is received
PLC_Known_Head_Angle, _ = PLC.read_tag(
"R_PI_User_Head_Angle") # Read the new angle
print("NEW PLC_Known_Head_Angle: " + str(PLC_Known_Head_Angle)
) # Print the current head angle the PLC knows of
# Make sure the PLC Read the new angle
if Head_Angle_Current != PLC_Known_Head_Angle:
print("FAULT: PI -> PLC TRANSMISSION FAILED!!!")
print("Closing Connection...")
print("********************************* \n")
PLC.close()
PLC.close()
from pycomm.ab_comm.clx import Driver as ClxDriver
import logging
from time import sleep
if __name__ == '__main__':
logging.basicConfig(
filename="ClxDriver.log",
format= "%(levelname)s %(asctime)s",
# format="%(levelname)s %(asctime)s %(message)s %(filename)s",
level=logging.DEBUG
)
c = ClxDriver()
print (c['port'])
print (c.__version__)
if c.open('192.168.0.203'):
while 1:
try:
print(c.read_tag(['TESTTAG']))
print(c.write_tag('TESTTAG', 30, 'DINT'))
sleep(1)
except Exception as e:
c.close()
print (e)
pass
def write_plc(ipaddress: str, tag_name: str, data_type: str, tag_value):
result = None
c = ClxDriver()
try:
c.open(ipaddress)
is_open = True
except:
is_open = False
return False
if is_open:
# Verify tag value matches data type.#
if(data_type == "DINT"):
try:
result = int(tag_value)
except:
c.close()
return False
elif(data_type == "REAL"):
try:
result = float(tag_value)
except:
c.close()
return False
else:
c.close()
return False
# write value to tag #
if result != None:
c.write_tag(tag_name, result, data_type)
c.close()
return True
c.close()
return False
else:
print("Could not interface with PLC at this IP Address.")
return False
# Set Speeds
print("Speed: ", 50, c.write_tag(('jog_ST_Speed', 50, 'REAL')))
print("Speed: ", 50, c.write_tag(('ST_Speed', 50, 'REAL')))
print("Speed: ", 50, c.write_tag(('time_ST_Speed', 50, 'REAL')))
#if home is 1 set to 0
_resp = c.read_tag(['Set_Home'])
if _resp[0][1] == 1:
print("Setting Home: ", c.write_tag(('Set_Home', 0, 'BOOL')))
print("Gear Ratio:", c.write_tag('Gear_Ratio', 0.9793333, 'REAL'))
if __name__ == '__main__':
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
c = ClxDriver()
print("connecting to driver...", )
if c.open('192.168.1.5'):
print("success!", )
print("Reseting")
reset()
# Get position
print("Angle: ", c.read_tag(['FB_Position']))
# Set to home
#print("Setting Home: ", c.write_tag(('Set_Home', 1, 'BOOL')))
#print("Setting Home: ", c.write_tag(('Set_Home', 0, 'BOOL')))
# Confirm position
print("New Angle: ", c.read_tag(['FB_Position']))
# Fault Active
_resp = c.read_tag(['Fault_Active'])
# Set Direction to Clockwise
# 1-clockwise, 2-counterclockwise, 3-shortestpath to a position
print("Direction:", c.write_tag('Direction_Mode', 2, 'INT'))
# Set Speeds
print("Speed: ", 50, c.write_tag(('jog_ST_Speed', 35, 'REAL')))
print("Speed: ", 50, c.write_tag(('ST_Speed', 50, 'REAL')))
print("Speed: ", 50, c.write_tag(('time_ST_Speed', 50, 'REAL')))
print("Gear Ratio:", c.write_tag('Gear_Ratio', 0.9793333, 'REAL'))
if __name__ == '__main__':
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
c = ClxDriver()
print("connecting to driver...", )
if c.open('192.168.1.5'):
print("success!", )
print("Reseting")
reset()
# Get position
print("Angle: ", c.read_tag(['FB_Position']))
# Fault Active
_resp = c.read_tag(['Fault_Active'])
if _resp[0][1] == 0:
# # Set the speed
# valid_resps = [1, 2, 3]
# usr_input = int(raw_input("What direction?: "))
# while usr_input not in valid_resps:
def __init__(self):
super().__init__()
self.cnxn = ClxDriver()
from pycomm.ab_comm.clx import Driver as ClxDriver
if __name__ == '__main__':
c = ClxDriver(True, 'ClxDriver.log')
if c.open('172.16.2.161'):
print(c.read_tag(['ControlWord']))
print(c.read_tag(['parts', 'ControlWord', 'Counts']))
print(c.write_tag('Counts', -26, 'INT'))
print(c.write_tag(('Counts', 26, 'INT')))
print(c.write_tag([('Counts', 26, 'INT')]))
print(c.write_tag([('Counts', -26, 'INT'), ('ControlWord', -30, 'DINT'), ('parts', 31, 'DINT')]))
# To read an array
r_array = c.read_array("TotalCount", 1750)
for tag in r_array:
print (tag)
# reset tha array to all 0
w_array = []
for i in xrange(1750):
w_array.append(0)
c.write_array("TotalCount", "SINT", w_array)
c.close()
class CLXWriteTag(EnrichSignals, Retry, Block):
host = StringProperty(title='Host Address')
tags = Property(title='Tags')
version = VersionProperty('0.1.2')
def __init__(self):
super().__init__()
self.cnxn = ClxDriver()
def before_retry(self, *args, **kwargs):
self._disconnect()
self._connect()
def configure(self, context):
super().configure(context)
try:
self._connect()
except Exception:
self.cnxn = None
msg = 'Unable to connect to {}'.format(self.host())
self.logger.exception(msg)
def stop(self):
super().stop()
self._disconnect()
def process_signals(self, signals):
host = self.host()
output_signals = []
if self.cnxn is None:
try:
msg = 'Not connected to {}, reconnecting...'.format(host)
self.logger.warning(msg)
self._connect()
except Exception:
self.cnxn = None
msg = 'Unable to connect to {}'.format(host)
self.logger.exception(msg)
return
for signal in signals:
tag_list = self.tags(signal)
self._validate_tags(tag_list)
try:
response = self.execute_with_retry(self._make_request,
tag_list)
except Exception:
response = False
self.cnxn = None
msg = 'write_tag failed, host: {}, tags: {}'
self.logger.exception(msg.format(host, tag_list))
continue
new_signal_dict = self._parse_response(response)
new_signal_dict['host'] = host
new_signal = self.get_output_signal(new_signal_dict, signal)
output_signals.append(new_signal)
self.notify_signals(output_signals)
def _abort(self):
raise TypeError(
'Tags to write must be given as a tuple of (name, value, type)')
def _connect(self):
# each instance of ClxDriver can open connection to only 1 host
# subsequent calls to open() are quietly ignored, and close()
# does not take any args, so one host per block instance for now
self.cnxn = ClxDriver()
self.cnxn.open(self.host())
def _disconnect(self):
if self.cnxn is not None:
self.cnxn.close()
self.cnxn = None
def _make_request(self, tag_list):
return self.cnxn.write_tag(tag_list)
def _parse_response(self, response):
if isinstance(response, list):
# when writing multiple tags write_tag returns a list of
# tuples (name, value, type, "GOOD"|"BAD")
success = []
for resp in response:
success.append(resp[3] == "GOOD")
else:
success = response
return {'success': success}
def _validate_tags(self, tag_list):
if isinstance(tag_list, list):
for tag in tag_list:
if not isinstance(tag, tuple):
self._abort()
else:
if not isinstance(tag_list, tuple):
self._abort()
# disable alrt
print("Disable Relative: ", c.write_tag('Alt_Start_Req', 0, 'BOOL'))
# Set Direction to Clockwise
# 2-counter-clockwise, 1-clockwise, 3-shortestpath to a position
print("Direction:", c.write_tag('Direction_Mode', 2, 'INT'))
# Set Speeds
print("Speed: ", 50, c.write_tag(('jog_ST_Speed', 50, 'REAL')))
print("Speed: ", 50, c.write_tag(('ST_Speed', 50, 'REAL')))
print("Speed: ", 50, c.write_tag(('time_ST_Speed', 50, 'REAL')))
if __name__ == '__main__':
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
c = ClxDriver()
print("connecting to driver...", )
if c.open('192.168.1.5'):
reset()
# Get position
while True:
start_time = datetime.now()
position = (c.read_tag(['FB_Position']))
position_angle = position[0][1]
stop_time = datetime.now()
print("angle = ", position_angle, (stop_time - start_time))
