# Controlling PacScript

Direct execution of DENSO scripts is supported, although it is not generally recommended except for special use cases.

## Running a script stored on COBOTTA

When using `CobottaCtrl` directly in local mode, always call `disconnect()` on exit, including when interrupted by `KeyboardInterrupt` or another exception.
```python
from cobotta2 import Config, CobottaCtrl, MotionMode

Config.load_yaml("config_cobotta2.yaml")
logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
cobotta = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, arm_name="Arm", logger=logger)

try:
    cobotta.reset_error()
    
    cobotta.turn_on_motor()
    cobotta.release_arm()
    
    name = "Pro1.pcs"  # The filename extension is optional

    # Mutually exclusive with take_script()
    cobotta.take_script(name)
    cobotta.run_script()
    cobotta.wait_for_complete()

except KeyboardInterrupt as e:
    logger.error(e)
except Exception as e:
    loggger.error(e)
finally:
    cobotta.disconnect()

```

## Uploading a script to COBOTTA

```python
from cobotta2 import Config, CobottaCtrl, MotionMode

Config.load_yaml("config_cobotta2.yaml")

logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
cobotta = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, arm_name="Arm", logger=logger)

file_content = """
Sub Main 

	TakeArm Keep = 0
	
	' Descend to P[61]
	Move L, @0 P[61]

End Sub
"""
# Upload file_content as Pro2.pcs
cobotta.upload_content_to_cobotta(file_content, "Pro2.pcs")
print(cobotta.get_cobotta_file_names())

```

## Listing scripts stored on COBOTTA


```python
from cobotta2 import Config, CobottaCtrl, MotionMode

Config.load_yaml("config_cobotta1.yaml")

logger = XLogger(log_level="debug", logger_name=Config.CLIENT_LOGGER_NAME)
cobotta = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, arm_name="Arm", logger=logger)

print(cobotta.get_cobotta_file_names())

```

## Downloading a script from COBOTTA

When using `CobottaCtrl` directly in local mode, always call `disconnect()` on exit, including when interrupted by `KeyboardInterrupt` or another exception.

```python
from cobotta2 import Config, CobottaCtrl
from x_logger import XLogger


Config.load_yaml("config_cobotta1.yaml")

logger = XLogger(log_level="debug", logger_name=Config.CLIENT_LOGGER_NAME)
cobotta = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, arm_name="Arm", logger=logger)

print(cobotta.get_cobotta_file_names())
cobotta.download_file_from_cobotta("P62.pcs")

```

---
## Author
- Kengo NAKADA