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Added simple controller

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This commit is contained in:
Sélène Corbineau 2025-01-14 19:00:04 +01:00
parent 30bcc00331
commit c9fbc03e79
2 changed files with 17 additions and 1 deletions
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1
GCode_Interpreterdc.py
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@ -66,6 +66,7 @@ class GCodeToMotors:
z_throttle : int = 0 z_throttle : int = 0
feedrate: float = 0. # In m/mn feedrate: float = 0. # In m/mn
ctrl_step: float = 1e-5 # in s
abs_mode: bool = False abs_mode: bool = False

17
controller.py
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@ -51,15 +51,30 @@ class PIDController(Controller):
gtm.z_throttle = 0 gtm.z_throttle = 0
class Dezimpots(Controller): class DummyController(Controller):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
def __call__(self, gtm, *args, **kwargs): def __call__(self, gtm, *args, **kwargs):
print("Call Me") print("Call Me")
feed = self.feedrate
dx, dy, dz = self.delta_units
feed_x = feed * dx/(dx**2 + dy**2 + dz**2)
feed_y = feed * dy/(dx**2 + dy**2 + dz**2)
feed_z = feed * dz/(dz**2 + dy**2 + dz**2)
gtm.x_direction = 1 if gtm.delta_steps[0] > 0 else 0 gtm.x_direction = 1 if gtm.delta_steps[0] > 0 else 0
gtm.y_direction = 1 if gtm.delta_steps[1] > 0 else 0 gtm.y_direction = 1 if gtm.delta_steps[1] > 0 else 0
gtm.z_direction = 1 if gtm.delta_steps[2] > 0 else 0 gtm.z_direction = 1 if gtm.delta_steps[2] > 0 else 0
gtm.throttle_x = floor(gtm.FAST_XY_FEEDRATE/feed_x)
gtm.throttle_y = floor(gtm.FAST_XY_FEEDRATE/feed_y)
gtm.throttle_z = floor(gtm.FAST_Z_FEEDRATE/feed_z)
gtm.throttle_x = 0 if gtm.throttle_x >= 65536 else gtm.throttle_x
gtm.throttle_y = 0 if gtm.throttle_y >= 65536 else gtm.throttle_y
gtm.throttle_z = 0 if gtm.throttle_z >= 65536 else gtm.throttle_z
# If we are close enough, we're good
return (gtm.ctrl_step*(feed*1000./60) >= 2.*(dx**2+dy**2+dz**2)**.5):