import socket
import time
class LineUs:
"""An example class to show how to use the Line-us API"""
def __init__(self, line_us_name):
self.__line_us = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.__line_us.connect((line_us_name, 1337))
self.__connected = True
self.__hello_message = self.__read_response()
def get_hello_string(self):
if self.__connected:
return self.__hello_message.decode()
else:
return 'Not connected'
def disconnect(self):
"""Close the connection to the Line-us"""
self.__line_us.close()
self.__connected = False
def g01(self, x, y, z):
"""Send a G01 (interpolated move), and wait for the response before returning"""
cmd = b'G01 X'
cmd += str(x).encode()
cmd += b' Y'
cmd += str(y).encode()
cmd += b' Z'
cmd += str(z).encode()
self.__send_command(cmd)
self.__read_response()
def __read_response(self):
"""Read from the socket one byte at a time until we get a null"""
line = b''
while True:
char = self.__line_us.recv(1)
if char != b'\x00':
line += char
elif char == b'\x00':
break
return line
def __send_command(self, command):
"""Send the command to Line-us"""
command += b'\x00'
self.__line_us.send(command)
#
# Very simple example of how to use the Line-us API. The most important thing to
# remember is to read the response after sending a command. The TCP buffer on
# Line-us is small and it does not cope well with having to buffer more than
# one message.
#
# Good Luck!
#
my_line_us = LineUs('line-us.local')
print(my_line_us.get_hello_string())
time.sleep(1)
my_line_us.g01(900, 300, 0)
my_line_us.g01(900, -300, 0)
my_line_us.g01(900, -300, 1000)
my_line_us.g01(1200, 300, 0)
my_line_us.g01(1200, -300, 0)
my_line_us.g01(1200, -300, 1000)
my_line_us.g01(900, 0, 0)
my_line_us.g01(1200, 0, 0)
my_line_us.g01(1200, 0, 1000)
my_line_us.g01(1500, 150, 0)
my_line_us.g01(1500, -300, 0)
my_line_us.g01(1500, -300, 1000)
my_line_us.g01(1500, 250, 0)
my_line_us.g01(1500, 300, 0)
my_line_us.g01(1500, 300, 1000)
time.sleep(1)
my_line_us.disconnect()
line-us机械臂编程
最新推荐文章于 2024-04-24 12:25:36 发布