Rapport
This commit is contained in:
parent
85a848ddbf
commit
5f1c810e49
6 changed files with 383 additions and 12 deletions
136
main.py
136
main.py
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@ -1,23 +1,135 @@
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import hardware as hw
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import hardware as hw
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import controller as ctl
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import controller as ctl
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import GCode_Interpreterdc as gci
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import GCode_Interpreterdc as gci
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import svgtroppagcode as sgc
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#import svgtroppagcode as sgc
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instr = sgc.svg_to_gcode("clock.svg").split("\n")
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#instr = sgc.svg_to_gcode("clock.svg").split("\n")
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instr = [
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"G1 X3.000 Y5.500 F2.000",
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"G1 X3.222 Y5.278 F0.297",
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"G1 X3.444 Y5.056 F0.354",
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"G1 X3.667 Y4.833 F0.391",
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"G1 X3.889 Y4.611 F0.420",
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"G1 X4.111 Y4.389 F0.445",
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"G1 X4.333 Y4.167 F0.465",
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"G1 X4.556 Y3.944 F0.484",
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"G1 X4.778 Y3.722 F0.500",
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"G1 X5.000 Y3.500 F0.500",
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"G0 X21.000 Y5.500",
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"G1 X20.778 Y5.278 F0.297",
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"G1 X20.556 Y5.056 F0.354",
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"G1 X20.333 Y4.833 F0.391",
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"G1 X20.111 Y4.611 F0.420",
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"G1 X19.889 Y4.389 F0.445",
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"G1 X19.667 Y4.167 F0.465",
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"G1 X19.444 Y3.944 F0.484",
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"G1 X19.222 Y3.722 F0.500",
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"G1 X19.000 Y3.500 F0.500",
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"G0 X12.000 Y8.500",
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"G1 X12.000 Y8.944 F0.297",
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"G1 X12.000 Y9.389 F0.354",
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"G1 X12.000 Y9.833 F0.354",
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"G1 X12.000 Y10.278 F0.354",
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"G1 X12.000 Y10.722 F0.354",
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"G1 X12.000 Y11.167 F0.354",
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"G1 X12.000 Y11.611 F0.354",
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"G1 X12.000 Y12.056 F0.354",
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"G1 X12.000 Y12.500 F0.354",
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"G1 X12.000 Y12.500 F0.354",
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"G1 X12.222 Y12.722 F0.354",
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"G1 X12.444 Y12.944 F0.354",
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"G1 X12.667 Y13.167 F0.354",
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"G1 X12.889 Y13.389 F0.354",
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"G1 X13.111 Y13.611 F0.354",
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"G1 X13.333 Y13.833 F0.354",
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"G1 X13.556 Y14.056 F0.354",
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"G1 X13.778 Y14.278 F0.354",
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"G1 X14.000 Y14.500 F0.354",
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"G0 X20.000 Y12.500",
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"G1 X19.971 Y13.190 F0.185",
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"G1 X19.884 Y13.864 F0.195",
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"G1 X19.743 Y14.520 F0.195",
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"G1 X19.549 Y15.154 F0.195",
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"G1 X19.306 Y15.764 F0.196",
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"G1 X19.015 Y16.349 F0.196",
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"G1 X18.679 Y16.905 F0.196",
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"G1 X18.300 Y17.431 F0.197",
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"G1 X17.881 Y17.924 F0.197",
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"G1 X17.424 Y18.381 F0.198",
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"G1 X16.931 Y18.800 F0.198",
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"G1 X16.405 Y19.179 F0.198",
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"G1 X15.849 Y19.515 F0.199",
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"G1 X15.264 Y19.806 F0.199",
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"G1 X14.654 Y20.049 F0.200",
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"G1 X14.020 Y20.243 F0.200",
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"G1 X13.364 Y20.384 F0.200",
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"G1 X12.690 Y20.471 F0.201",
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"G1 X12.000 Y20.500 F0.201",
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"G1 X12.000 Y20.500 F0.202",
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"G1 X11.310 Y20.471 F0.202",
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"G1 X10.636 Y20.384 F0.203",
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"G1 X9.981 Y20.243 F0.203",
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"G1 X9.346 Y20.049 F0.204",
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"G1 X8.736 Y19.806 F0.204",
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"G1 X8.151 Y19.515 F0.205",
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"G1 X7.595 Y19.179 F0.206",
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"G1 X7.069 Y18.800 F0.206",
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"G1 X6.576 Y18.381 F0.207",
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"G1 X6.119 Y17.924 F0.207",
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"G1 X5.700 Y17.431 F0.208",
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"G1 X5.321 Y16.905 F0.209",
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"G1 X4.985 Y16.349 F0.209",
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"G1 X4.694 Y15.764 F0.210",
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"G1 X4.451 Y15.154 F0.211",
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"G1 X4.257 Y14.520 F0.211",
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"G1 X4.116 Y13.864 F0.212",
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"G1 X4.029 Y13.190 F0.213",
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"G1 X4.000 Y12.500 F0.214",
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"G1 X4.000 Y12.500 F0.214",
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"G1 X4.029 Y11.810 F0.215",
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"G1 X4.116 Y11.136 F0.216",
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"G1 X4.257 Y10.481 F0.217",
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"G1 X4.451 Y9.846 F0.218",
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"G1 X4.694 Y9.236 F0.219",
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"G1 X4.985 Y8.651 F0.219",
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"G1 X5.321 Y8.095 F0.220",
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"G1 X5.700 Y7.569 F0.221",
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"G1 X6.119 Y7.076 F0.222",
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"G1 X6.576 Y6.619 F0.223",
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"G1 X7.069 Y6.200 F0.224",
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"G1 X7.595 Y5.821 F0.225",
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"G1 X8.151 Y5.485 F0.226",
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"G1 X8.736 Y5.194 F0.227",
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"G1 X9.346 Y4.951 F0.228",
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"G1 X9.981 Y4.757 F0.230",
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"G1 X10.636 Y4.616 F0.231",
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"G1 X11.310 Y4.529 F0.232",
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"G1 X12.000 Y4.500 F0.233",
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"G1 X12.000 Y4.500 F0.235",
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"G1 X12.690 Y4.529 F0.236",
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"G1 X13.364 Y4.616 F0.237",
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"G1 X14.020 Y4.757 F0.239",
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"G1 X14.654 Y4.951 F0.240",
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"G1 X15.264 Y5.194 F0.239",
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"G1 X15.849 Y5.485 F0.237",
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"G1 X16.405 Y5.821 F0.236",
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"G1 X16.931 Y6.200 F0.235",
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"G1 X17.424 Y6.619 F0.233",
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"G1 X17.881 Y7.076 F0.232",
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"G1 X18.300 Y7.569 F0.231",
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"G1 X18.679 Y8.095 F0.230",
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"G1 X19.015 Y8.651 F0.228",
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"G1 X19.306 Y9.236 F0.227",
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"G1 X19.549 Y9.846 F0.226",
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"G1 X19.743 Y10.481 F0.225",
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"G1 X19.884 Y11.136 F0.224",
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"G1 X19.971 Y11.810 F0.223",
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"G1 X20.000 Y12.500 F0.222",]
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b = "socket.sock"
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b = "socket.sock"
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sh = hw.SimuHardware(b)
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sh = hw.SimuHardware(b)
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ctrl = ctl.DummyController()
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ctrl = ctl.DummyController()
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gtm1 = gci.GCodeToMotors(ctrl, sh)
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gtm1 = gci.GCodeToMotors(ctrl, sh)
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for i in instr[2:]:
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for i in instr[0:]:
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gtm1.instruction_converter(i)
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gtm1.instruction_converter(i)
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# gtm1.instruction_converter("G1 X25.000 Y25.000 F2.000")
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# gtm1.instruction_converter("G1 X30.000 Y25.000 F2.000")
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# gtm1.instruction_converter("G3 X30.000 Y45.000 I0 J10 F0.100")
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# gtm1.instruction_converter("G5 X50.000 Y45.000 I-5 J-5 P10 J5 F0.5000")
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# gtm1.instruction_converter("G1 X50.000 Y50.000 F2.000")
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# gtm1.instruction_converter("G1 X50.000 Y100.000 F2.000")
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# gtm1.instruction_converter("G1 X100.000 Y-50.000 F2.000")
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# gtm1.instruction_converter("G1 X-50.000 Y-100.000 F2.000")
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# gtm1.instruction_converter("G1 X-100.000 Y50.000 F2.000")
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rapport.aux
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rapport.aux
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\relax
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\catcode `:\active
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\catcode `;\active
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\catcode `!\active
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\catcode `?\active
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\babel@aux{french}{}
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\@writefile{toc}{\contentsline {section}{\numberline {1}Positionnement}{1}{}\protected@file@percent }
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\@writefile{toc}{\contentsline {section}{\numberline {2}Réalisation}{1}{}\protected@file@percent }
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\gdef \@abspage@last{2}
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This is pdfTeX, Version 3.141592653-2.6-1.40.25 (TeX Live 2023/nixos.org) (preloaded format=pdflatex 1980.1.1) 7 FEB 2025 19:03
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entering extended mode
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**rapport
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texlive-2023-env-texmfdist/fonts/enc/dvips/cm-super/cm-super-t1.enc}]
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\T1/cmr/m/n/10 Ce GCode est parsé, puis une boucle de contrôle est ins-tan-ciée
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avec le [][]\T1/cmtt/m/n/10 Controller
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[]
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rapport.pdf
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rapport.pdf
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rapport.tex
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rapport.tex
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@ -0,0 +1,81 @@
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\documentclass{article}
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|
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\usepackage[T1]{fontenc}
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\usepackage[french]{babel}
|
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|
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||||||
|
\title{Contrôleur de petite machine à bois}
|
||||||
|
\author{Matthieu Boyer, Sélène Corbineau}
|
||||||
|
|
||||||
|
\begin{document}
|
||||||
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\maketitle
|
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|
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\section{Positionnement}
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||||||
|
Nous nous sommes intéressés au contrôle de la petite machine à bois d'hackens
|
||||||
|
(une fraiseuse à commande numérique). Pour simplifier le problème et rendre
|
||||||
|
les échecs moins dangereux, nous l'avons considérée comme un \emph{plotter} :
|
||||||
|
la tête de la PMB tient un stylo et l'on trace une image. La monture du
|
||||||
|
stylo sur la tête est munie d'un ressort. De cette manière, la hauteur exacte
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|
de la tête importe peu pour obtenir un trait correct. L'asservissement porte
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|
alors principalement sur les axes X et Y.
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|
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||||||
|
Le format naturel de dessin ici est un format vectoriel comme le SVG. Comme
|
||||||
|
représentation intermédiaire, nous avons choisi le format de commande traditionnel
|
||||||
|
des machines à commande numérique, le GCode. Le GCode est une suite d'instruction
|
||||||
|
précisant des déplacements (linéaires, circulaires voire selon des courbes
|
||||||
|
de Bézier) et, pour chaque déplacement, une vitesse cible. Le choix des vitesses
|
||||||
|
cible et la manière de les réaliser à été au coeur du projet.
|
||||||
|
|
||||||
|
\section{Réalisation}
|
||||||
|
Dans le rendu fourni, le contrôleur n'est capable d'intéragir qu'avec le
|
||||||
|
simulateur. Pour ce faire, on lance le simulateur physique \verb|simulator.py|
|
||||||
|
puis le contrôleur \verb|main.py|. Afin de générer le GCode exécuté par
|
||||||
|
le contrôleur, on peut utiliser l'exécutable \verb|svgtroppagcode.py|.
|
||||||
|
|
||||||
|
Ce dernier exécutable est séparé, car, utilisant la bibliothèque \verb|toppra|,
|
||||||
|
il faut une version compatible de NumPy d'au plus 1.21.6, qui implique une
|
||||||
|
version de Python antérieure à 3.6. Pour avoir un environnement adéquat,
|
||||||
|
nous avons utilisé les machines des salles informatiques, qui ne sont pas
|
||||||
|
à jour. N'hésitez pas à revenir vers nous si vous rencontrez des difficultés.
|
||||||
|
|
||||||
|
\subsection{Contrôle de l'entrée}
|
||||||
|
L'entrée SVG est convertie en GCode. Pour ce faire, deux méthodes sont proposées:
|
||||||
|
% TODO: Comment on choisit?
|
||||||
|
\begin{itemize}
|
||||||
|
\item Un convertisseur naïf convertit fidèlement un SVG en GCode, les feedrates
|
||||||
|
étant choisis arbitrairement.
|
||||||
|
\item Un convertisseur utilisant \verb|toppra| : on convertit le SVG en chemins,
|
||||||
|
puis on rééchantillone ce chemin en prenant en compte les contraintes en
|
||||||
|
vitesse et accélération. Cette méthode à l'inconvénient de transformer les
|
||||||
|
courbes en lignes brisées au niveau du GCode (et non plus au niveau du contrôleur).
|
||||||
|
\end{itemize}
|
||||||
|
|
||||||
|
\section{Fonctionnement}
|
||||||
|
% Blablah conversion vers SVG?
|
||||||
|
%
|
||||||
|
|
||||||
|
Nous nous sommes concentrés sur l'architecture de contrôle. Une classe
|
||||||
|
\verb|GCodeToMotors| supervise le processus de dessin, prenant en entrée du
|
||||||
|
GCode. Ce GCode est parsé, puis une boucle de contrôle est instanciée avec
|
||||||
|
le \verb|Controller| et le \verb|Hardware|. Le contrôleur décide de la commande
|
||||||
|
à appliquer étant donné la cible et l'état de la machine. L'instance
|
||||||
|
de \verb|Hardware| elle, expose deux fonctions, pour appliquer une commande et
|
||||||
|
examiner l'état de la machine.
|
||||||
|
|
||||||
|
Cette architecture modulaire permet au \verb|Hardware| d'implémenter des
|
||||||
|
interfaces diverses (commande directe du matériel, communication réseau, etc.).
|
||||||
|
Ici toutefois, on s'est restreint à une communication par socket à un processus
|
||||||
|
externe de simulation. Il est également facile de choisir la politique de contrôle
|
||||||
|
en implémentant des \verb|Controller| différents. Nous avons implémenté un
|
||||||
|
contrôleur naïf d'ordre 0, qui commande la machine à la vitesse spécifiée par
|
||||||
|
le GCode (constante par morceaux donc) et dans la direction nécessaire pour
|
||||||
|
atteindre le prochain point de contrôle. Nous avons tenté d'implémenter un
|
||||||
|
contrôleur PID, mais nous n'avons pas trouvé de coefficients donnant une
|
||||||
|
réponse intéressante : en pratique, les moteurs de la fraiseuse numérique
|
||||||
|
sont suffisamment puissants pour qu'aux vitesses raisonnables ne déchirant pas
|
||||||
|
le papier, l'inertie soit de fait négligeable.
|
||||||
|
|
||||||
|
Le simulateur fourni dans le rapport simule en temps réel, les pas de calcul
|
||||||
|
étant choisis les plus petits possibles. La communication asynchrone par socket
|
||||||
|
UNIX permet de mettre cela en oeuvre facilement.
|
||||||
|
|
||||||
|
\end{document}
|
||||||
|
|
@ -10,4 +10,5 @@ pkgs.mkShell {
|
||||||
ps.scipy
|
ps.scipy
|
||||||
]))
|
]))
|
||||||
];
|
];
|
||||||
|
LD_LIBRARY_PATH="${pkgs.stdenv.cc.cc.lib}/lib/";
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue