RoboDK Robot Driver Boilerplate

How to use?

1. Create a python file in RoboDK driver directory

2. Import module

   from robodkdriver import RobotSerial
   
   

3. Extend RobotSerial class

   class MyOneAxisRobot(RobotSerial):
       def run_command(self, cmd: str, args: tuple):
           RoboDK.update_status('working')
   
           if cmd == 'CONNECT':
               connected = self._connect(port=args[0], baud_rate=int(args[1]))
   
               if not connected:
                   return 'connection_problems'
   
               return 'ready'
   
           if cmd == 'DISCONNECT' or cmd == 'STOP':
               disconnected = self._disconnect()
   
               if disconnected:
                   return 'disconnected'
   
               return 'ready'
   
           if cmd == 'MOVJ':
               self._send_message('{cmd} {angle}'.format(cmd=cmd, angle=args[0]))
   
               if self._get_message('DONE'):
                   return 'ready'
   
               return 'error'
   
           if cmd == 'CJNT':
               self._send_message(cmd)
   
               joints = self._get_message()
               RoboDK.update_status(joints)
   
               return 'ready'
               
           ...
   
   

   You need to define how robot should act accordingly to each RoboDK command. You can return:

   • ready: when robot is ready for new command
   • working: when robot starts working
   • waiting: when robot is waiting
   • disconnected: when robot is disconnected
   • not_connected: when robot is not connected
   • connection_problems: when there are connection problems

4. Start driver

   if __name__ == '__main__':
       RoboDK(MyOneAxisRobot()).run_driver()
   
   

5. Change configuration on RoboDK robot connection