Hello,
Basic DobotControl.py is working while I have edited this basic example as below and added gripper API which is not responding.
Can anyone tell me what could be possible reason behind this ?
import threading
import math
import DobotDllType as dType
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, "/dev/ttyUSB0", 115200)[0]
print("Connect status:",CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 147, -12, 134, 0, 1)
dType.SetEndEffectorGripper(api, 1, 0, isQueued=1) # Gripper On, Both End Open
dType.SetEndEffectorGripper(api, 1, 1, isQueued=1) # Gripper On, Both end Close
dType.SetEndEffectorGripper(api, 1, 0, isQueued=1) # Gripper On, Both end Open
dType.SetEndEffectorGripper(api, 0, 0, isQueued=1) # Gripper Off, Both End Open
lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 292, 012, 134, 0, 1)
#Start to Execute Command Queued
dType.SetQueuedCmdStartExec(api)
#Wait for Executing Last Command
while lastIndex > dType.GetQueuedCmdCurrentIndex(api)[0]:
dType.dSleep(2000)
#Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(api)
#Disconnect Dobot
dType.DisconnectDobot(api)