Controlling e-motors and pwm output

README.md

@@ -64,3 +64,15 @@ Methods
     * **enable**: _bool_ enables/disables suction
 * **.grip(enable)**
     * **enable**: _bool_ enables/disables gripper
+* **.wait(ms)**
+    * **ms**: _integer_ milliseconds to wait before the next command
+    * **wait**: _bool_ waits until command has been executed to return to process
+* **.set_io_mode(address, mode, wait=False)**
+    * **address**: _integer_ EIO port number
+    * **mode**: _str_ I/O mode (Dummy, PWM, DO, DI, ADC)
+    * **wait**: _bool_ waits until command has been executed to return to process
+* **.set_pwm_output(address, frequency, duty_cycle, wait=False)**
+    * **address**: _integer_ EIO port number
+    * **frequency**: _float_ pulse frequency
+    * **duty_cycle**: _float_ pulse duty cycle (0 to 100)
+    * **wait**: _bool_ waits until command has been executed to return to process

pydobot/dobot.py

@@ -19,6 +19,7 @@
 MODE_PTP_MOVL_INC = 0x07
 MODE_PTP_MOVJ_XYZ_INC = 0x08
 MODE_PTP_JUMP_MOVL_XYZ = 0x09
+IO_MODES = {'Dummy': 1, 'PWM': 2, 'DO': 3, 'DI': 4, 'ADC': 5}
 
 STEP_PER_CIRCLE = 360.0 / 1.8 * 10.0 * 16.0
 MM_PER_CIRCLE = 3.1415926535898 * 36.0
@@ -235,6 +236,30 @@ def _set_end_effector_laser(self, power=255, enable=False):
         msg.params.extend(bytearray([power]))
         return self._send_command(msg)
 
+    def _set_wait_cmd(self, ms):
+        msg = Message()
+        msg.id = 110
+        msg.ctrl = 0x03
+        msg.params = bytearray(struct.pack('I', ms))
+        return self._send_command(msg)
+
+    def _set_io_multiplexing(self, address, mode):
+        msg = Message()
+        msg.id = 130
+        msg.ctrl = 0x03
+        msg.params = bytearray(struct.pack('B', address))
+        msg.params.extend(bytearray(struct.pack('B', mode)))
+        return self._send_command(msg)
+
+    def _set_io_pwm(self, address, f, d):
+        msg = Message()
+        msg.id = 132
+        msg.ctrl = 0x03
+        msg.params = bytearray(struct.pack('B', address))
+        msg.params.extend(bytearray(struct.pack('f', f)))
+        msg.params.extend(bytearray(struct.pack('f', d)))
+        return self._send_command(msg)
+
     def _set_queued_cmd_start_exec(self):
         msg = Message()
         msg.id = 240
@@ -493,6 +518,15 @@ def engrave(self, image, pixel_size, low=0.0, high=40.0, velocity=5, acceleratio
 
         self.wait_for_cmd(self.laze(0, False))
 
+    def wait(self, ms):
+        self._set_wait_cmd(ms)
+
+    def set_io_mode(self, address, mode):
+        self._set_io_multiplexing(address, IO_MODES[mode])
+
+    def set_pwm_output(self, address, frequency, duty_cycle):
+        self._set_io_pwm(address, frequency, duty_cycle)
+
 
 if __name__ == '__main__':
     d = Dobot()