MG400_Mock

Dobot MG400 Mock Server Package. MG400_Mock let user to replace actual hardware to docker container system. It can make more easy to develop MG400 control system with embeded IK solver.

Prerequisities

Docker

How to use

Launch an instance

cd MG400_Mock
docker compose -f docker/docker-compose.yml up

If you want to launch multiple instances (e.g. 3 instances), then

docker compose -f docker/docker-compose.yml up --scale dobot=3

Identify container IP address

Docker containers will run in docker's bridge network (172.10.0.0/24), and their IP address can be identified by the following command.

docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' docker-dobot-1

If there are more than one docker-dobot container, their name would be docker-dobot-2, docker-dobot-3 etc.

Shutdown

docker compose -f docker/docker-compose.yml down

Test (for debug)

docker compose -f docker/test-docker-compose.yml run test_dobot python3 -m unittest discover -s tests

Setting user defined coordinate systems

You can define tool coordinate systems through tool.yml in the assets folder.
user coordinate systems have not been implemented yet.

HarvestX/MG400_Mock