Hi everybody!
I am currently trying to create a little python driver to control dobot, however I didn’t succeed to make it work. Could you please try to indicate me where are my errors? Particurlally, I am not sure about data strucure (byte order, units …).
Here is an example of an attemp of sending an order to dobot (position). I get an answer but no reaction at all …
import serial,time
import struct
def f2b(i):#convert python float into bytes
return struct.pack('>f', i)# "<": little-endian, ">": big-endian, both tested unsucessfully
ser = serial.Serial(#serial connection
port='COM3',
baudrate=256000,
parity=serial.PARITY_NONE,#serial.PARITY_ODD,
stopbits=serial.STOPBITS_ONE,#serial.STOPBITS_TWO,
bytesize=serial.EIGHTBITS#serial.SEVENBITS
)
ser.isOpen()
print "ok"
packet=[chr(0xa5),#packet creation
f2b(3),#state
f2b(0),
f2b(3),#X 3cm?
f2b(0),#Y
f2b(0.2),#Z 0.2mm?
f2b(0),#R
f2b(0),#grab
f2b(1),#MoveMode
f2b(0),#griper
f2b(0),#pause
chr(0x5a)]#chr(90)
query = ""
for i in packet:
query += i
print "[",query,"]"
ser.write(query)
time.sleep(1)
out = ""
while ser.inWaiting() > 0:#read answer
out += ser.read(1)
if len(out) == 42:
break
print "[",out,"]"
Does anybody has an idea about that?
Thank you!
) : if I start the server first and then the client, it will fail, however if I let the client starting the server by itself, it works (I didn’t notice that the first time because the server process stay alive despite the error, and my first action was to start it…). I succeed to move Dobot with with your second exampleI, I will do this way, thank you!