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Dobot XYZ absolute (not additive) control
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| import serial | |
| import time | |
| import struct | |
| import threading | |
| import signal | |
| class Dobot: | |
| def __init__(self, port, baud=230400): | |
| self.port = serial.Serial(port, baudrate=baud) | |
| self.running = False | |
| def start(self): | |
| self.running = True | |
| thread = threading.Thread(target=self.updateStatus) | |
| thread.daemon = True | |
| thread.start() | |
| def stop(self): | |
| self.running = False | |
| def bytesToFloat(self, byteList): | |
| data = ''.join(chr(i) for i in byteList) | |
| return struct.unpack('<f', data)[0] | |
| def floatToBytes(self, value): | |
| return (ord(c) for c in struct.pack('<f', value)) | |
| def _readFloat(self): | |
| data = [] | |
| while len(data) < 4: | |
| byte = self.port.read(1) | |
| if len(byte): | |
| val = ord(byte) | |
| data.append(val) | |
| return self.bytesToFloat(data) | |
| def _writeFloat(self, value): | |
| data = self.floatToBytes(value) | |
| for val in data: | |
| # print hex(val) | |
| self.port.write(chr(val & 0xFF)) | |
| def updateStatus(self): | |
| num = 0 | |
| commandValues = 0 | |
| headFound = False | |
| while self.running: | |
| while not headFound: | |
| data = self.port.read(1) | |
| if len(data): | |
| val = ord(data) | |
| if val == 0xa5: | |
| headFound = True | |
| headFound = False | |
| commandValues = 0 | |
| while commandValues < 10: | |
| val = self._readFloat() | |
| print time.strftime("%a, %d %b %Y %H:%M:%S"), num, val | |
| commandValues += 1 | |
| num += 1 | |
| # Read tail byte. | |
| self.port.read(1) | |
| self.port.close() | |
| def xyz(self, x, y, z): | |
| self.port.write(chr(0xa5)) | |
| self._writeFloat(3.0) | |
| self._writeFloat(0.0) | |
| self._writeFloat(x) | |
| self._writeFloat(y) | |
| self._writeFloat(z) | |
| self._writeFloat(0.0) | |
| self._writeFloat(0.0) | |
| self._writeFloat(1.0) | |
| self._writeFloat(0.0) | |
| self._writeFloat(0.0) | |
| self.port.write(chr(0x5a)) | |
| def signal_handler(signal, frame): | |
| dobot.stop() | |
| sys.exit(0) | |
| def main(): | |
| # listen for SIGINT | |
| signal.signal(signal.SIGINT, signal_handler) | |
| # Arduino USB under Linux. | |
| # dobot = Dobot('/dev/ttyUSB0') | |
| # Dobot Bluetooth under MacOS. | |
| # dobot = Dobot('/dev/tty.BT4-SPP-SerialPort') | |
| # Arduino USB under MacOS. | |
| dobot = Dobot('/dev/tty.usbmodem1421') | |
| dobot.start() | |
| time.sleep(1) | |
| dobot.xyz(270, 0, -40) | |
| time.sleep(1) | |
| dobot.xyz(230, 0, -40) | |
| time.sleep(1) | |
| dobot.stop() | |
| if __name__ == '__main__': | |
| main() |
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