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