deltax's Introduction

Python library to control a robot from 'Delta X Robot'

exemple

DeltaX S

robot = DeltaX(port = "COM4", model=DeltaX.DeltaX_S)
if robot.connect() == True:
    print("connected")
robot.syncPosition()
robot.wait_for_robot_response()
print(robot.position())
robot.syncInput(I=[0, 1], A=[0])
robot.wait_for_robot_response()
print(robot.getDigitalInput(I=[0, 1]))
print(robot.getAnalogInput(A=[0]))
robot.setDO(D=[0,1], value=DeltaX.ON)
robot.wait_for_robot_response()
while 1:
    robot.moveL([20,0,-800])
    robot.moveL([-20,0,-800])
    robot.moveC(offset=[-30,-30], point=[-20, 0])
    robot.wait_for_robot_response()

DeltaX V2

robot = DeltaX(port = "COM4", model=DeltaX.DeltaX_V2)
if robot.connect() == True:
    print("connected")
robot.syncPosition()
robot.wait_for_robot_response()
print(robot.position())
robot.setEndEffector(name=DeltaX.Vacuum)
robot.wait_for_robot_response()
robot.controlEndEffector(value=DeltaX.ON)
robot.wait_for_robot_response()
while 1:
    robot.moveL([20,0,-270])
    robot.moveL([-20,0,-270])
    robot.moveC(offset=[-30,-30], point=[-20, 0])
    robot.wait_for_robot_response()

list func

- connect
- disconnect
- is_connected
- sendGcode
- wait_for_robot_response
- robot_response
- isResponded
- lastGcodeState
- syncMotionParameters
- motionParameters
- sleep
- position
- angle
- homing
- syncPosition
- syncAngle
- syncInput
- getDigitalInput
- getAnalogInput
- setDO
- controlEndEffector
- setEndEffector
- disableSteppers
- setAcceleration
- setStartingAndEndingSpeeds
- setXYZOffset
- moveL
- moveC

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