SimuHardware skeleton

controller.py

@@ -11,6 +11,6 @@ class Controller:
 
 class PIDController(Controller):
     def __call__(self, gtm, *args, **kwargs):
-        return None
+        self.
 
 

hardware.py

@@ -9,3 +9,57 @@ class Hardware:
 
     def realize(self, gtm: GCodeToMotors):
         return
+
+
+class SimuHardware(Hardware):
+    def __init__(self, filename):
+        try:
+            self.f = open(filename)
+        except FileNotFoundError:
+            raise FileNotFoundError
+
+    def probe(self, gtm):
+        f.write("request")
+        encoder_x = (int)(f.readline())
+        encoder_y = (int)(f.readline())
+        encoder_z = (int)(f.readline())
+
+        last_x,last_y,last_z = gtm.current_steps
+        # We are now at some position which realizes the encoder positions
+        # curr_x = encoder_x + k*X_MOTOR_STEPS
+        # |curr_x - last_x| <= 1/2 * X_MOTOR_STEPS
+        curr_x = encoder_x + (last_x//gtm.X_MOTOR_STEPS) * gtm.X_MOTOR_STEPS
+        if(curr_x - last_x > .5 * gtm.X_MOTOR_STEPS):
+            curr_x -= gtm.X_MOTOR_STEPS
+
+        curr_y = encoder_y + (last_y//gtm.Y_MOTOR_STEPS) * gtm.Y_MOTOR_STEPS
+        if(curr_y - last_y > .5 * gtm.Y_MOTOR_STEPS):
+            curr_y -= gtm.Y_MOTOR_STEPS
+
+        curr_z = encoder_z + (last_z//gtm.Z_MOTOR_STEPS) * gtm.Z_MOTOR_STEPS
+        if(curr_z - last_z > .5 * gtm.Z_MOTOR_STEPS):
+            curr_z -= gtm.Z_MOTOR_STEPS
+
+        # Note that if we don't probe regularly enough, we lose track of the position
+        # Really, we should be able to set_steps
+        self.set_position([curr_x/gtm.X_STEPS_PER_MM,
+                           curr_y/gtm.Y_STEPS_PER_MM,
+                           curr_z/gtm.Z_STEPS_PER_MM])
+
+    def realize(self, gtm):
+        f.write("realize")
+        
+        if(gtm.throttle_x == 0):
+            f.write(gtm.x_direction + " 0")
+        else:
+            f.write(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE/gtm.x_throttle)
+        
+        if(gtm.throttle_y == 0):
+            f.write(gtm.y_direction + " 0")
+        else:
+            f.write(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE/gtm.y_throttle)
+        
+        if(gtm.throttle_z == 0):
+            f.write(gtm.z_direction + " 0")
+        else:
+            f.write(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE/gtm.z_throttle)