Gripper Control

This example will complete the development of a suction cup plugin for gripping and releasing workpieces.

Plugin Initialization

The plugin initialization work can refer to the initialization process in the IO Control Case.

Plugin Workflow

The workflow of this plugin is as follows:

Control Functions

Write control.lua

require("utils.util")
local numConvert = require('utils.num_convert')
local control = {}
local modbusID = nil

-- Define the grip function to control the gripping operation
function control.grip(id)

    if modbusID == nil then
        local err, _modbus = ModbusCreate("127.0.0.1", 60000, id, true)
        if err ~= 0 then
            -- Failed to create Modbus connection
            return nil
        else
            -- Successfully created Modbus connection
            modbusID = _modbus
        end
    end

    if modbusID ~= nil then
        local gripCmd = tonumber('00001001'..'00000000', 2)
        local gripParams = 0
        WriteBy485(modbusID, 0x03E8, { gripCmd, gripParams })
    end
end

function control.release(id)

    if modbusID == nil then
        local err, _modbus = ModbusCreate("127.0.0.1", 60000, id, true)
        if err ~= 0 then
            -- Failed to create Modbus connection
            return nil
        else
            -- Successfully created Modbus connection
            modbusID = _modbus
        end
    end

    if modbusID ~= nil then
        local releaseCmd = tonumber('00001001'..'00000000', 2)
        local releaseParams = 100
        WriteBy485(modbusID, 0x03E8, { releaseCmd, releaseParams })
    end
end

---@param id number
---@return table|nil status
function control.getStatus(id)
    if modbusID == nil then
        local err, _modbus = ModbusCreate("127.0.0.1", 60000, id, true)
        if err ~= 0 then
            -- Failed to create Modbus connection
            return nil
        else
            -- Successfully created Modbus connection
            modbusID = _modbus
        end
    end

    local status = false
    if modbusID ~= nil then
        Use485()
        local registerData = GetHoldRegs(modbusID, 0x07D0, 3)
        UnLock485()
        if registerData[1] == nil then
            return false
        end
        local bitData = numConvert.decimalToBinary(registerData[1])
        return string.sub(bitData, -6, -5) == '11'
    end

    return status
end

return control

Network Requests

Write httpAPI.lua

local httpModule = {}
local control = require("control")

-- Define the grip function to control the gripping operation
function httpModule.grip(params)
    control.grip(params.id)
    return {
        status = true
    }
end

function httpModule.release(params)
    control.release(params.id)
    return {
        status = true
    }
end

return httpModule

Status Synchronization

• Write lua/daemon.lua

local control = require('control')

local function handleInLoop()
    -- Default id for Epick suction cup is 9
    local data = control.getStatus(9)
    if data ~= nil or data ~= false then
        mqtt.publish(data)
    else
        mqtt.publish({
            status = false
        })
    end
end

• Write .dobot/http/http.ts

import { request } from './axios'

export const grip = (data: any) => {
  return request({
    url: 'grip',
    data
  })
}

export const release = (data: any) => {
  return request({
    url: 'release',
    data
  })
}

• Write ui/Main.tsx

import { Button, StatusLight } from '@dobot-plus/components'
import { useState } from 'react'
import { useTranslation } from 'react-i18next'
import { http } from '@dobot/http/http'
import { DobotPlusApp } from '@dobot/components/DobotPlusApp'

function App() {
    const { t } = useTranslation()

    const [status, setStatus] = useState(false)

    function handleButton1Click() { http.grip({id: 9 }) }

    function handleButton2Click() { http.release({ id: 9 }) }

    function handleMessage(data: object | string) {
        if (typeof data === 'object') {
            const { status } = data as { status: boolean }
            setStatus(status)
        }
    }

    return (
        <div className="app">
            <DobotPlusApp useMqtt={true} onMessage={handleMessage}>
                <Button type="primary" onClick={handleButton1Click}>Grip</Button>
                <Button type="primary" onClick={handleButton2Click}>Release</Button>
                <StatusLight status={status ? 'success' : 'error'}
                    statusText={status ? 'Normal' : 'Abnormal'}>
                </StatusLight>
            </DobotPlusApp>
        </div>
    )
}

export default App

Debugging

The debugging command for the plugin can perform the following two types of development work:

• Debug only the page
• Connect to a real device for debugging

dpt dev

When executing the above command, the command line will prompt developers whether to connect a real device for testing.

$ dpt dev
? Debug lua on real device? Yes
? Please check the device IP: 192.168.5.1 (y/n)

Developers need to confirm:

• Whether the actual IP of the controller is correct; the default is 192.168.5.1
• Whether the SFTP service-related configuration is correct

For detailed information on the above configurations, please refer to the dpt.json configuration file.

{
  "ip": "192.168.5.1", // Controller IP
  "pluginPort": 22100
}

Building the Plugin

After completing the development, debugging, and optimization of the plugin, you can execute the final build work by running:

dpt build

After the program executes successfully, there will be a dist folder and an output folder in the current directory.

• The dist folder contains the plugin code after this build, allowing developers to check the build results.
• The output folder contains a compressed zip file named in the format <plugin_name>-<version_number>.zip, which is the plugin to be imported for actual use on the client.