d02e08bf4b
- add class to allow for concurrent plotting of simulated position - switch position for loop function since it will be the same for all simulators
77 lines
2.4 KiB
Python
77 lines
2.4 KiB
Python
import socket
|
|
import os
|
|
|
|
import GCode_Interpreterdc
|
|
import simulator
|
|
|
|
class Hardware:
|
|
def __init__(self):
|
|
pass
|
|
|
|
def probe(self, gtm):
|
|
return
|
|
|
|
def realize(self, gtm):
|
|
return
|
|
|
|
|
|
class SimuHardware(Hardware):
|
|
def __init__(self, bind):
|
|
Hardware.__init__(self)
|
|
self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
|
|
self.s.connect(bind)
|
|
|
|
def probe(self, gtm):
|
|
self.s.send("request".encode())
|
|
encoder_x = int(socket.SocketIO(self.s, "rw").readline())
|
|
encoder_y = int(socket.SocketIO(self.s, "rw").readline())
|
|
encoder_z = int(socket.SocketIO(self.s, "rw").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
|
|
gtm.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):
|
|
self.s.send("realize".encode())
|
|
|
|
if gtm.throttle_x == 0:
|
|
self.s.send(gtm.x_direction + " 0")
|
|
else:
|
|
self.s.send(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.x_throttle)
|
|
|
|
if gtm.throttle_y == 0:
|
|
self.s.send(gtm.y_direction + " 0")
|
|
else:
|
|
self.s.send(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.y_throttle)
|
|
|
|
if gtm.throttle_z == 0:
|
|
self.s.send(gtm.z_direction + " 0")
|
|
else:
|
|
self.s.send(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE / gtm.z_throttle)
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
bind = "tmp.txt"
|
|
# sim = simulator.Simulator(bind)
|
|
sh = SimuHardware(bind)
|
|
gtm1 = GCode_Interpreterdc.GCodeToMotors
|
|
sh.probe(gtm1)
|