def linear_move_poll(self, target_pos: Coordinate, speed: float = None, track_speed=False, current_pos=None):
"""
Moves the robot linearly to a coordinate.
:param target_pos: Coordinate for the target position.
:param speed: Movement speed for tool.
:param track_speed:
:param current_pos:
:return:
"""
# Set speed
if speed is not None:
self.set_speed(speed, 'linear')
# Only send command if any coordinates are passed, otherwise just set the speed
if len(target_pos.values) > 0 and any(a is not None for a in target_pos.values):
# Fill None values with current position to predict correct response
if current_pos is None:
# No need to do this twice
current_pos = self.protocol.get_current_xyzabc()
target_pos.add_axis(current_pos)
target_pos.update_empty(current_pos)
# Send move command
self.protocol.linear_move(target_pos)
# Wait until position is reached
t, v = cmp_response(R3Protocol_Cmd.CURRENT_XYZABC, target_pos.to_melfa_response(), self.protocol.reader,
track_speed=track_speed)
return t, v
return None, None
def go_home(self, option="") -> None:
"""
Moves the robot to its current home point (current work coordinate origin or global safe position respectively)
:return:
"""
if self.work_coordinate_active:
# Acquire new zero coordinate
zero = Coordinate(self.zero.values, self.zero.axes)
if option != "":
zero = zero.reduce_to_axes(option, make_none=True)
# Acquire current position to determine robot orientation
current_position = self.protocol.reader.get_current_xyzabc()
zero.add_axis(current_position)
zero.update_empty(current_position)
# Move to zero
self.linear_move_poll(zero)
else:
self.go_safe_pos()