def init():
speed1=150
speed = 500
coordinate=500
dType.SetPTPJointParams(api, speed1,speed1,speed1,speed1,speed1,speed1,speed1,speed1, isQueued=1)
dType.SetPTPCommonParams(api, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,coordinate,coordinate,coordinate,coordinate,isQueued=1)
def init(speed=100, coordinate=4000):
dType.SetQueuedCmdClear(api)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
200,
200,
200,
200,
isQueued=1)
# dType.SetPTPJointParams(api, speed, speed, speed, speed, speed, speed, speed, speed, isQueued=1)
dType.SetPTPCoordinateParams(api,
coordinate,
coordinate,
coordinate,
coordinate,
isQueued=1)
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Connect status:", CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
#Async Motion Params Setting
dType.SetHOMEParams(api, 172, -120, 50, 0, isQueued=1)
dType.SetPTPJointParams(api,
200,
200,
200,
200,
200,
200,
200,
200,
isQueued=1)
dType.SetPTPCommonParams(api, 100, 100, isQueued=1)
dType.SetPTPJumpParams(api, 10, 100, isQueued=1)
#Async Home
dType.SetHOMECmd(api, temp=0, isQueued=1)
#Async PTP Motion
#(default DobotControl action)
#for i in range(0, 6):
# if i % 2 == 0:
# offset = 50