72 lines
2.4 KiB
Python
72 lines
2.4 KiB
Python
import socket
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from GCode_Interpreterdc import GCodeToMotors
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class Hardware:
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def __init__(self):
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pass
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def probe(self, gtm: GCodeToMotors):
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return
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def realize(self, gtm: GCodeToMotors):
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return
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class SimuHardware(Hardware):
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def __init__(self, bind):
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self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.s.setblocking(False)
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self.s.bind(bind)
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def probe(self, gtm):
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self.s.send("request")
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self.s.listen()
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while 1:
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try:
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encoder_x = (int)(socket.SocketIO(self.s).readline())
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except:
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pass
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encoder_y = (int)(socket.SocketIO(self.s).readline())
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encoder_z = (int)(socket.SocketIO(self.s).readline())
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last_x, last_y, last_z = gtm.current_steps
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# We are now at some position which realizes the encoder positions
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# curr_x = encoder_x + k*X_MOTOR_STEPS
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# |curr_x - last_x| <= 1/2 * X_MOTOR_STEPS
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curr_x = encoder_x + (last_x // gtm.X_MOTOR_STEPS) * gtm.X_MOTOR_STEPS
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if curr_x - last_x > .5 * gtm.X_MOTOR_STEPS:
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curr_x -= gtm.X_MOTOR_STEPS
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curr_y = encoder_y + (last_y // gtm.Y_MOTOR_STEPS) * gtm.Y_MOTOR_STEPS
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if curr_y - last_y > .5 * gtm.Y_MOTOR_STEPS:
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curr_y -= gtm.Y_MOTOR_STEPS
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curr_z = encoder_z + (last_z // gtm.Z_MOTOR_STEPS) * gtm.Z_MOTOR_STEPS
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if curr_z - last_z > .5 * gtm.Z_MOTOR_STEPS:
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curr_z -= gtm.Z_MOTOR_STEPS
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# Note that if we don't probe regularly enough, we lose track of the position
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# Really, we should be able to set_steps
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gtm.set_position([curr_x / gtm.X_STEPS_PER_MM,
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curr_y / gtm.Y_STEPS_PER_MM,
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curr_z / gtm.Z_STEPS_PER_MM])
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def realize(self, gtm):
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self.s.send("realize")
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if gtm.throttle_x == 0:
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self.s.send(gtm.x_direction + " 0")
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else:
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self.s.send(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.x_throttle)
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if gtm.throttle_y == 0:
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self.s.send(gtm.y_direction + " 0")
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else:
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self.s.send(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.y_throttle)
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if gtm.throttle_z == 0:
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self.s.send(gtm.z_direction + " 0")
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else:
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self.s.send(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE / gtm.z_throttle)
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