import threading
import DobotDll.DobotDllType as dType
import random
from pynput import keyboard
from pynput.keyboard import KeyCode
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#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,
import time
from DobotDll import DobotDllType as dType
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
api = dType.load() # Load Dll
postion = [237.7514, 49.2358, -25.7501, 7.1569]
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)