Lebai Help

Common Methods

Print variables.

Supports recursive printing of table type variables. Automatically adds a new line after printing.

print(params)

  • Parameters

  • params. The content to be printed

Synchronization

Synchronize. Wait for the robot to complete the current motion.

By default, before running instructions marked with <Badge type="warning" text="auto_sync" vertical="middle" />, this synchronization instruction will be automatically called.

WARNING

It is strongly recommended to use disable_auto_sync() to disable the automatic synchronization function, and manually call sync() at the place where you need to wait for the motion to complete.

sync()

Disable Auto Sync 3.1

After calling this interface, subsequent instructions marked with <Badge type="warning" text="auto_sync" vertical="middle" /> will no longer automatically call sync() to wait for motion completion.

WARNING

It is strongly recommended to use disable_auto_sync() to disable the automatic synchronization function, and manually call sync() at the place where you need to wait for the motion to complete.

disable_auto_sync()

Enable Auto Sync 3.1

After calling this interface, subsequent instructions marked with <Badge type="warning" text="auto_sync" vertical="middle" /> will automatically call sync() to wait for motion completion.

WARNING

There are compatibility issues with Cooperative Multitasking, it is not recommended to use this interface. It is strongly recommended to use disable_auto_sync() to disable the automatic synchronization function, and manually call sync() at the place where you need to wait for the motion to complete.

enable_auto_sync()

Synchronous Run 3.1.21

Set auto_sync only within the function.

WARNING

There are compatibility issues with Cooperative Multitasking, it is not recommended to use this interface. It is strongly recommended to use disable_auto_sync() to disable the automatic synchronization function, and manually call sync() at the place where you need to wait for the motion to complete.

ret = sync_run(f, auto_sync)

  • Parameters

  • f. The function to be run

  • auto_sync. Whether to enable auto_sync within the function

Example Program
sync_run(function()
  ret = scene("10001")
  return ret
end, false)

Get Timestamp

Get millisecond timestamp.

timestamp()

Wait auto_sync

The robot will wait for a period of time.

wait(time)

  • Parameters

  • time. Sleep time (milliseconds)

Wait Until auto_sync

The robot will wait for a period of time until the specified condition is met.

wait_until(fn)

  • Parameters

  • fn. Wait condition, executed once per cycle for judgment, until fn() returns true.


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