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 controller as ctl
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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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sh = hw.SimuHardware(b)
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ctrl = ctl.DummyController()
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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("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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13
rapport.aux
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rapport.aux
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@ -0,0 +1,13 @@
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\relax
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\providecommand\babel@aux[2]{}
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\@nameuse{bbl@beforestart}
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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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\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Contrôle de l'entrée}{1}{}\protected@file@percent }
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\@writefile{toc}{\contentsline {section}{\numberline {3}Fonctionnement}{2}{}\protected@file@percent }
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\gdef \@abspage@last{2}
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rapport.log
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rapport.log
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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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restricted \write18 enabled.
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%&-line parsing enabled.
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**rapport
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(./rapport.tex
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LaTeX2e <2023-11-01> patch level 1
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L3 programming layer <2024-02-20>
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Document Class: article 2023/05/17 v1.4n Standard LaTeX document class
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ex/base/size10.clo
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File: size10.clo 2023/05/17 v1.4n Standard LaTeX file (size option)
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)
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)
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Package: fontenc 2021/04/29 v2.0v Standard LaTeX package
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)
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Package: babel 2024/02/07 v24.2 The Babel package
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eric/babel-french/french.ldf
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Language: french 2024-02-29 v3.5s French support from the babel system
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Package babel Info: Hyphen rules for 'acadian' set to \l@french
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(babel) (\language31). Reported on input line 91.
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Package babel Info: Hyphen rules for 'canadien' set to \l@french
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(babel) (\language31). Reported on input line 92.
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\FB@stdchar=\count198
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Package babel Info: Making : an active character on input line 420.
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))
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Package babel Info: Importing font and identification data for french
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(babel) from babel-fr.ini. Reported on input line 11.
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Package: keyval 2022/05/29 v1.15 key=value parser (DPC)
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File: l3backend-pdftex.def 2024-02-20 L3 backend support: PDF output (pdfTeX)
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LaTeX Font Info: Checking defaults for OML/cmm/m/it on input line 9.
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LaTeX Font Info: ... okay on input line 9.
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LaTeX Font Info: ... okay on input line 9.
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LaTeX Font Info: Checking defaults for OMX/cmex/m/n on input line 9.
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LaTeX Font Info: ... okay on input line 9.
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LaTeX Font Info: Checking defaults for U/cmr/m/n on input line 9.
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LaTeX Font Info: ... okay on input line 9.
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LaTeX Info: Redefining \degres on input line 9.
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LaTeX Font Info: External font `cmex10' loaded for size
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(Font) <8> on input line 10.
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LaTeX Font Info: Trying to load font information for T1+cmtt on input line 3
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0.
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(/nix/store/3sqpmm9zizph3l68bcchchva3cqp8mfv-texlive-2023-env-texmfdist/tex/lat
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Overfull \hbox (3.37326pt too wide) in paragraph at lines 56--63
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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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[2] (./rapport.aux)
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***********
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LaTeX2e <2023-11-01> patch level 1
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L3 programming layer <2024-02-20>
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***********
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)
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Here is how much of TeX's memory you used:
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2553 strings out of 474116
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fb>
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BIN
rapport.pdf
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\documentclass{article}
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\usepackage[T1]{fontenc}
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\usepackage[french]{babel}
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\title{Contrôleur de petite machine à bois}
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\author{Matthieu Boyer, Sélène Corbineau}
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\begin{document}
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\maketitle
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\section{Positionnement}
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Nous nous sommes intéressés au contrôle de la petite machine à bois d'hackens
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(une fraiseuse à commande numérique). Pour simplifier le problème et rendre
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les échecs moins dangereux, nous l'avons considérée comme un \emph{plotter} :
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la tête de la PMB tient un stylo et l'on trace une image. La monture du
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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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Le format naturel de dessin ici est un format vectoriel comme le SVG. Comme
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représentation intermédiaire, nous avons choisi le format de commande traditionnel
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des machines à commande numérique, le GCode. Le GCode est une suite d'instruction
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précisant des déplacements (linéaires, circulaires voire selon des courbes
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de Bézier) et, pour chaque déplacement, une vitesse cible. Le choix des vitesses
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cible et la manière de les réaliser à été au coeur du projet.
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\section{Réalisation}
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Dans le rendu fourni, le contrôleur n'est capable d'intéragir qu'avec le
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simulateur. Pour ce faire, on lance le simulateur physique \verb|simulator.py|
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puis le contrôleur \verb|main.py|. Afin de générer le GCode exécuté par
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le contrôleur, on peut utiliser l'exécutable \verb|svgtroppagcode.py|.
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Ce dernier exécutable est séparé, car, utilisant la bibliothèque \verb|toppra|,
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il faut une version compatible de NumPy d'au plus 1.21.6, qui implique une
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version de Python antérieure à 3.6. Pour avoir un environnement adéquat,
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nous avons utilisé les machines des salles informatiques, qui ne sont pas
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à jour. N'hésitez pas à revenir vers nous si vous rencontrez des difficultés.
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\subsection{Contrôle de l'entrée}
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L'entrée SVG est convertie en GCode. Pour ce faire, deux méthodes sont proposées:
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% TODO: Comment on choisit?
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\begin{itemize}
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\item Un convertisseur naïf convertit fidèlement un SVG en GCode, les feedrates
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étant choisis arbitrairement.
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\item Un convertisseur utilisant \verb|toppra| : on convertit le SVG en chemins,
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puis on rééchantillone ce chemin en prenant en compte les contraintes en
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vitesse et accélération. Cette méthode à l'inconvénient de transformer les
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courbes en lignes brisées au niveau du GCode (et non plus au niveau du contrôleur).
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\end{itemize}
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\section{Fonctionnement}
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% Blablah conversion vers SVG?
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%
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Nous nous sommes concentrés sur l'architecture de contrôle. Une classe
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\verb|GCodeToMotors| supervise le processus de dessin, prenant en entrée du
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GCode. Ce GCode est parsé, puis une boucle de contrôle est instanciée avec
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le \verb|Controller| et le \verb|Hardware|. Le contrôleur décide de la commande
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à appliquer étant donné la cible et l'état de la machine. L'instance
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de \verb|Hardware| elle, expose deux fonctions, pour appliquer une commande et
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examiner l'état de la machine.
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Cette architecture modulaire permet au \verb|Hardware| d'implémenter des
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interfaces diverses (commande directe du matériel, communication réseau, etc.).
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Ici toutefois, on s'est restreint à une communication par socket à un processus
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externe de simulation. Il est également facile de choisir la politique de contrôle
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en implémentant des \verb|Controller| différents. Nous avons implémenté un
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contrôleur naïf d'ordre 0, qui commande la machine à la vitesse spécifiée par
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le GCode (constante par morceaux donc) et dans la direction nécessaire pour
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atteindre le prochain point de contrôle. Nous avons tenté d'implémenter un
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contrôleur PID, mais nous n'avons pas trouvé de coefficients donnant une
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réponse intéressante : en pratique, les moteurs de la fraiseuse numérique
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sont suffisamment puissants pour qu'aux vitesses raisonnables ne déchirant pas
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le papier, l'inertie soit de fait négligeable.
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Le simulateur fourni dans le rapport simule en temps réel, les pas de calcul
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étant choisis les plus petits possibles. La communication asynchrone par socket
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UNIX permet de mettre cela en oeuvre facilement.
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\end{document}
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@ -10,4 +10,5 @@ pkgs.mkShell {
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ps.scipy
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]))
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];
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LD_LIBRARY_PATH="${pkgs.stdenv.cc.cc.lib}/lib/";
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}
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|
|
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