vcMotionController

"""Example of coordinated multi-joint motion using the MotionController behavior."""

import vcCore as vc
import vcRobotics2 as vc_robo2

comp = vc.getComponent()
mc = comp.findBehavior("MotionController")

async def move(joint_targets: list[float], motion_time = None):
  if len(joint_targets) > mc.DriverCount:
    print("More joint targets given than drivers exist")
    return
  target = vc_robo2.vcMultiDriverTarget()
  target.InternalDriverValues = list(enumerate(joint_targets)) # list of tuples with index
  if motion_time:
    target.MotionTime = motion_time
  mc.addCoordinatedTarget(target)
  mc.moveCoordinated()
  await mc.waitUntilTargetsReached()

async def OnRun():
  """Use 'async' for defining time-consuming functions. Use 'await' for time-consuming method and function calls."""
  while True:
    await move([200.0, 400.0, 300.0], 1.0) # With motion time parameter
    await move([-200.0, -400.0, 100.0])
    await move([0.0, 0.0, 0.0])

"""Example of blocking and non-blocking driver motion using the MotionController behavior."""

import vcCore as vc
import vcRobotics2 as vc_robo2

comp = vc.getComponent()
mc = comp.findBehavior("MotionController")

POSITION_TARGET = vc_robo2.vcDriverTargetValueType.POSITION
TARGET_ID = 0

def move_driver_nonblocking(driver_index: int, target: float):
  """Starts the motion to given target and does not wait for motion to complete. Can be called from outside OnRun. Good for e.g. controlling gripper fingers."""
  mc.addIndependentTarget(TARGET_ID, driver_index, False, POSITION_TARGET, target, False)
  mc.moveIndependent()

async def move_driver(driver_index: int, target: float):
  """Moves to given target and waits for motion to complete."""
  mc.addIndependentTarget(TARGET_ID, driver_index, False, POSITION_TARGET, target, False)
  mc.moveIndependent()
  await mc.waitUntilTargetsReached()

async def OnRun():
  """Use 'async' for defining time-consuming functions. Use 'await' for time-consuming method and function calls."""
  while True:
    # Blocking function calls
    await move_driver(0, 500.0)
    await move_driver(0, 0.0)
    # Non-blocking function calls
    move_driver_nonblocking(0, 500.0)
    await vc.delay(1.0)
    move_driver_nonblocking(0, 0.0)
    await vc.delay(1.0)

"""
Controller has two joints.
Create two targets and make both joints move simultaneously back and forth with coordinates motions."""

import vcCore as vc
import vcBehaviors as vc_beh
import vcRobotics2 as vc_robo2

comp = vc.getComponent()
mc = comp.findBehavior('MotionController')
app = vc.getApplication()
world = vc.getWorld()

async def OnRun():
  target1 = vc_robo2.vcMultiDriverTarget()
  target1.InternalDriverValues = [(0, 200), (1, 500)]
  target1.TargetId = 1
  target2 = vc_robo2.vcMultiDriverTarget()
  target2.InternalDriverValues = [(0, 0), (1, 0)]
  target2.TargetId = 2

  while True:
    mc.clearTargets()
    mc.addCoordinatedTarget(target1)
    mc.addCoordinatedTarget(target2)
    mc.moveCoordinated()
    await mc.waitUntilTargetsReached([target2.TargetId])  # Wait until last target is reached