Dobot3DPrinting.py

import DobotDllType as dType
from moveDobot import moveJoint
import os

api = dType.load()
current_path = os.path.dirname(__file__)

CON_STR = {
    dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
    dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
    dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}

state = dType.ConnectDobot(api, "COM6", 115200)[0]

print("Connect status:", CON_STR[state])

if state == dType.DobotConnect.DobotConnect_NoError:

    # Homing
    print("Home...")

    dType.SetHOMEParams(api, 250, 0, 40, 0, isQueued=0)
    dType.SetHOMECmd(api, temp=0, isQueued=0)
    
    # Adjusts the speed and acceleration of the joints for printing
    dType.SetPTPJointParams(api, 50, 10, 50, 10, 50, 10, 50, 10, 0)

    # I/O Interface is configured
    dType.SetIOMultiplexing(api, 10, 1, 0)
    dType.SetIOMultiplexing(api, 11, 2, 0)
    dType.SetIOMultiplexing(api, 12, 1, 0)
    dType.dSleep(100)

    dType.SetIODO(api, 10, 1, 0)
    dType.SetIODO(api, 12, 1, 0)
    dType.dSleep(100)

    # Material extrusion begins
    dType.SetEMotor(api, 0, 1, 180, 0)
    dType.dSleep(100)

    # Enter the path of the flat surface to be printed
    print_type = os.path.join(current_path, "data_non_planar")
    data_path = os.path.join(print_type, "data9")
    output_path = os.path.join(data_path, "output")
    file_name = os.path.join(output_path, "angle_values.txt")
    print(f"Printing :{file_name}")

    with open(file_name, 'r') as file:
        next(file)
        for line in file:
            angles = line.split()
            moveJoint(float(angles[0]), float(angles[1]), float(angles[2]), float(angles[3]), float(angles[4]))

    lastPosition = dType.GetPose(api)
    dType.SetPTPCmdEx(api, 2, lastPosition[0], lastPosition[1], lastPosition[2]+3, lastPosition[3], 0)

    # I/O interface is switched off and extrusion is stopped
    dType.SetIODO(api, 10, 0, 0)
    dType.SetIODO(api, 12, 0, 0)
    dType.SetEMotorS(api, 0, 0, 0, 0, 0)

dType.DisconnectDobot(api)