Robot
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The Robot module is designed to support multi-axes machines, i.e. robots. It can load drivers which can bringe their own parameters, similar to modules like [Logger] or [Switch]. A specialty is that each driver can define multiple axes. The sweep value of each axis is forwarded to the driver during [apply] function.
Driver programming
Each driver needs a static variable 'axes' which is a dictionary whose keys define the possible axes:
from EmptyDeviceClass import EmptyDevice # Loading the EmptyDevice Class
class Device(EmptyDevice): # Creating a new Device Class by inheriting from EmptyDevice
axes = {
"x":{
"Value": 0.0
},
"y":{
"Value": 300.0
},
"z":{
"Value": 0.0
},
"tool":{
"Value": 0.0
},
}
def __init__(self):
EmptyDevice.__init__(self)
def apply(self):
print(self.sweepvalues)
For each axis, a further dictionary is defined that can contain further properties, e.g "Value", that defines the default value.
During the function apply, a dictionary 'self.sweepvalues' contains the values of each axis with keys being the axes names.