Basic Control

Prerequisites

• The COBOTTA server is running.

Basic control through the COBOTTA server

When troubleshooting, first call get_current_position() to verify communication. This operation does not require take_arm or motor_on.

import asyncio
from cobotta2 import Config
from cobotta2.server import AsyncCobottaClient
from x_logger import XLogger

async def main():
    Config.load_yaml("config_cobotta1.yaml")
    logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
    client = AsyncCobottaClient(config=Config, logger=logger)
    result = await client.get_current_position()
    print(result)

if __name__ == "__main__":
    asyncio.run(main())

Loading YAML configuration

There are two ways to use configuration. If a program uses only one device server and therefore one configuration, Config can be used directly without creating an instance.

Config.load_yaml("config_cobotta1.yaml")
client = AsyncCobottaClient(config=Config, logger=logger)

If a program uses multiple configurations, for example for an electronic balance and COBOTTA, create separate instances.

config_cobotta = Config("config_cobotta1.yaml")
config_aandd = Config("config_aandd_reader.yaml")
cobotta = AsyncCobottaClient(config=config_cobotta, logger=logger)
aandd = AsyncCobottaClient(config=config_aandd, logger=logger)

Configuration for starting the control server

• See server_fastapi for the FastAPI-based server.

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Author

• Kengo NAKADA