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TestingSpeed.py
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TestingSpeed.py
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import time
import DualCarriers
from DobotControl import DobotControl
class Left(DobotControl):
def __init__(self, index, addr):
super().__init__(index, addr)
if DualCarriers.Settings.HOME_INIT:
self.reset_zero(DualCarriers.Settings.HOME_BASE)
def work(self):
print("running left")
for s in range(600, 800, 50):
print("speed", s)
self.init(s)
for i in range(3):
self.getBlockLeft(i % 12)
self.gotoPut()
def getBlockLeft(self, index):
lst = list(DualCarriers.Settings.LEFT_GET_BASE)
lst[0] -= DualCarriers.Settings.LEFT_GET_DIS_X * (index // 4)
lst[1] -= DualCarriers.Settings.LEFT_GET_DIS_Y * (index % 4)
self.moveTo(*lst)
self.moveInc(dz=-15)
self.suck()
time.sleep(0.1)
self.moveInc(dz=50)
def gotoPut(self):
l = list(DualCarriers.Settings.LEFT_PUT_BASE)
l[2] += 10
self.moveTo(*l)
self.moveInc(dz=-10)
def release(self):
time.sleep(0.1)
self.unsuck()
time.sleep(0.1)
self.moveInc(dz=20)
if __name__ == "__main__":
left = Left(1, "COM5")
left.start()