Dobot M1 - Page 107

Dobot M1 User Guide 6 Operation
Issue V1.3.4 (2019-05-23) User Guide Copyright © Yuejiang Technology Co., Ltd
104
print(commandtype)
#get the value of command
# index = strCMD.find(',')
# tempStr1 = str[index+1 : ]
#get X coord
# index = tempStr1.find(',')
# tempStr2 = tempStr1[:index]
# PosX = tempStr2
# print(PosX)
# tempStr1 = tempStr2
#get Y coord
if (strCMD == "exit"):
print("stop")
server.shutdown()
exit(0)
elif (strCMD == "MoveP1" or strCMD == "p1"): // Send Move P1 or P1 command, Dobot M1
will move as the following commands
dType.SetArmOrientation(api, 1, 1)
dType.SetPTPCmd(api, 0, 229, 212, 120, 0, 1)
dType.SetARCCmd(api, [62,265,120,50], [-58,266,120,76], 1)
elif (strCMD == "MoveP2" or strCMD == "p2"): //Send Move P2 or P2 command, Dobot M1
will move as the following commands
dType.SetArmOrientation(api, 1, 1)
dType.SetPTPCmd(api, 0, 229, 212, 120, 0, 1)
dType.SetARCCmd(api, [62,265,120,50], [-58,266,120,76], 1)
HOST, PORT = "192.168.1.10", 50030 // IP address and Port of the server
socketserver.TCPServer.allow_reuse_address = True
server = ThreadedTCPServer((HOST, PORT), ThreadedTCPRequestHandler)
ip, port = server.server_address
server_thread = threading.Thread(target=server.serve_forever)
server_thread.daemon = True
server_thread.start()