375 lines
14 KiB
Python
375 lines
14 KiB
Python
import time
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from collections import defaultdict
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from typing import *
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import numpy as np
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Point = NewType("point", List[float, float, float])
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# We will assume everything is up to documentation.
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class GCodeToMotors:
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# Hardcoded Values for Our Machine
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CONTROL = defaultdict(lambda t: False) # Figure out how to initialize this.
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X_STEP_PIN = 8
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X_DIR_PIN = 9
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X_MIN_PIN = 4
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X_MAX_PIN = 2
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X_ENABLE_PIN = 15
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Y_STEP_PIN = 10
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Y_DIR_PIN = 11
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Y_MIN_PIN = 3
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Y_MAX_PIN = 5
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Y_ENABLE_PIN = 15
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Z_STEP_PIN = 12
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Z_DIR_PIN = 13
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Z_MIN_PIN = 7
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Z_MAX_PIN = 6
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Z_ENABLE_PIN = 15
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X_STEPS_PER_INCH = x_units = 4800
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X_STEPS_PER_MM: float = 188.97
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X_MOTOR_STEPS: float = 200
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Y_STEPS_PER_INCH = y_units = 4800
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Y_STEPS_PER_MM: int = 188.97
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Y_MOTOR_STEPS: int = 200
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Z_STEPS_PER_INCH = z_units = 4800
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Z_STEPS_PER_MM: float = 188.97
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Z_MOTOR_STEPS: int = 200
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FAST_XY_FEEDRATE: int = 100
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FAST_Z_FEEDRATE: int = 100
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CURVE_SECTION_INCHES = curve_section = .019685
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CURVE_SECTION_MM: float = .5
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SENSORS_INVERTING: bool = False
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x_direction: int = 1
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y_direction: int = 1
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z_direction: int = 1
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abs_mode: bool = False
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current_units: Point = [0., 0., 0.]
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target_units: Point = [0., 0., 0.]
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delta_units: Point = [0., 0., 0.]
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current_steps: Point = [0., 0., 0.]
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target_steps: Point = [0., 0., 0.]
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delta_steps: Point = [0., 0., 0.]
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feedrate: float = 0.
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feedrate_micros: int = 0
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@staticmethod
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def to_steps(steps_per_unit: float, units: float) -> float:
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return steps_per_unit * units
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def calculate_deltas(self):
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self.delta_units = list(map(lambda t: abs(t[0] - t[1]), zip(self.target_units, self.current_units)))
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self.delta_steps = list(map(lambda t: abs(t[0] - t[1]), zip(self.target_steps, self.current_steps)))
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self.current_steps[0] = self.to_steps(self.x_units, self.current_units[0])
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self.current_steps[1] = self.to_steps(self.y_units, self.current_units[1])
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self.current_steps[2] = self.to_steps(self.z_units, self.current_units[2])
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self.target_steps[0] = self.to_steps(self.x_units, self.target_units[0])
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self.target_steps[1] = self.to_steps(self.y_units, self.target_units[1])
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self.target_steps[2] = self.to_steps(self.z_units, self.target_units[2])
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self.x_direction = (self.target_units[0] >= self.current_units[0])
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self.y_direction = (self.target_units[1] >= self.current_units[1])
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self.z_direction = (self.target_units[2] >= self.current_units[2])
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def set_position(self, x: float, y: float, z: float):
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self.current_units[0] = x
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self.current_units[1] = y
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self.current_units[2] = z
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self.calculate_deltas()
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def set_target(self, x: float, y: float, z: float):
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self.target_units[0] = x
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self.target_units[1] = y
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self.target_units[2] = z
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self.calculate_deltas()
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def calculate_feedrate_delay(self, feedrate: float) -> float:
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distance: float = np.linalg.norm(self.delta_units)
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master_steps: float = max(self.delta_steps)
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# Compute delay between steps in microseconds
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return ((distance * 600000000.) / feedrate) / master_steps
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def get_max_speed(self) -> float:
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if self.delta_steps[2] > 0:
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return self.calculate_feedrate_delay(self.FAST_Z_FEEDRATE)
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return self.calculate_feedrate_delay(self.FAST_XY_FEEDRATE)
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def move(self, micro_delay: float):
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max_delta = max(self.delta_steps)
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x_counter = -max_delta/2
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y_counter = -max_delta/2
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z_counter = -max_delta/2
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if micro_delay >= 16386:
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milli_delay = micro_delay / 1000
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else:
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milli_delay = 0
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x_can_step = self.can_step(self.X_MIN_PIN, self.X_MAX_PIN, self.current_steps[0], self.target_steps[0], self.x_direction)
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y_can_step = self.can_step(self.Y_MIN_PIN, self.Y_MAX_PIN, self.current_steps[1], self.target_steps[1], self.y_direction)
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z_can_step = self.can_step(self.Z_MIN_PIN, self.Z_MAX_PIN, self.current_steps[2], self.target_steps[2], self.z_direction)
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while x_can_step or y_can_step or z_can_step:
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x_can_step = self.can_step(
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self.X_MIN_PIN, self.X_MAX_PIN, self.current_steps[0], self.target_steps[0], self.x_direction
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)
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y_can_step = self.can_step(
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self.Y_MIN_PIN, self.Y_MAX_PIN, self.current_steps[1], self.target_steps[1], self.y_direction
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)
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z_can_step = self.can_step(
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self.Z_MIN_PIN, self.Z_MAX_PIN, self.current_steps[2], self.target_steps[2], self.z_direction
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)
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if x_can_step:
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x_counter += self.delta_steps[0]
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if x_counter > 0:
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self.step(self.X_STEP_PIN, self.X_DIR_PIN, self.x_direction)
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x_counter -= max_delta
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if self.x_direction:
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self.current_steps[0] += 1
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else:
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self.current_steps[0] -= 1
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if y_can_step:
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y_counter += self.delta_steps[1]
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if y_counter > 0:
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self.step(self.Y_STEP_PIN, self.Y_DIR_PIN, self.y_direction)
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y_counter -= max_delta
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if self.y_direction:
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self.current_steps[1] += 1
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else:
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self.current_steps[1] -= 1
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if z_can_step:
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z_counter += self.delta_steps[2]
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if z_counter > 0:
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self.step(self.Z_STEP_PIN, self.Z_DIR_PIN, self.z_direction)
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z_counter -= max_delta
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if self.z_direction:
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self.current_steps[2] += 1
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else:
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self.current_steps[2] -= 1
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if milli_delay > 0:
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time.sleep(milli_delay*1e-3)
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else:
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time.sleep(micro_delay*1e-6)
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self.current_units = self.target_units.copy()
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self.calculate_deltas()
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def can_step(self, min_pin: int, max_pin: int, current: float, target: float, direction: bool):
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if target == current:
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return False
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elif self.CONTROL[min_pin] and not direction: # TODO: IMPLEMENT CONTROL ON POSITION
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return False
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elif self.CONTROL[max_pin] and direction:
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return False
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return True
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def step(self, pinA: int, pinB: int, direction: bool):
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pinA = bytes(pinA)
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pinB = bytes(pinB)
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direction = bytes(direction)
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match (direction << 2 | self.CONTROL[pinA] << 1 | self.CONTROL[pinB]): # TODO: IMPLEMENT SPEED CONTROL
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case 0, 5:
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self.CONTROL[pinA] = True
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case 1, 7:
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self.CONTROL[pinB] = False
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case 2, 4:
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self.CONTROL[pinB] = True
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case 3, 6:
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self.CONTROL[pinA] = False
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time.sleep(5e-6)
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def instruction_to_velocities(self, instruction: str) -> Optional[List[float]]:
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if instruction[0] == "/":
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return None
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fp: Point = [0., 0., 0.]
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code: int = 0
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if has_command('G', instruction)\
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or has_command('X', instruction)\
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or has_command('Y', instruction)\
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or has_command('Z', instruction):
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code = search_string('G', instruction)
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match code:
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case 0, 1, 2, 3:
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if self.abs_mode:
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if has_command('X', instruction):
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fp[0] = search_string('X', instruction)
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else:
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fp[0] = self.current_units[0]
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if has_command('Y', instruction):
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fp[1] = search_string('Y', instruction)
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else:
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fp[1] = self.current_units[1]
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if has_command('Z', instruction):
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fp[2] = search_string('Z', instruction)
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else:
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fp[2] = self.current_units[2]
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else:
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fp[0] = self.current_units[0] + search_string('X', instruction)
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fp[1] = self.current_units[1] + search_string('Y', instruction)
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fp[2] = self.current_units[2] + search_string('Z', instruction)
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case _:
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pass
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match code:
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case 0, 1:
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self.set_position(fp[0], fp[1], fp[2])
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if has_command('G', instruction):
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if code == 1:
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self.feedrate = search_string('F', instruction)
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if self.feedrate > 0:
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self.feedrate_micros = self.calculate_feedrate_delay(self.feedrate)
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else:
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self.feedrate_micros = self.get_max_speed()
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else:
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self.feedrate_micros = self.get_max_speed()
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else:
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if self.feedrate > 0:
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self.feedrate_micros = self.calculate_feedrate_delay(self.feedrate)
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else:
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self.feedrate_micros = self.get_max_speed()
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self.move(self.feedrate_micros)
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case 2, 3:
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center = [0., 0., 0.]
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center[0] = search_string('I', instruction) + self.current_units[0]
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center[1] = search_string('J', instruction) + self.current_units[1]
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aX = self.current_units[0] - center[0]
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aY = self.current_units[1] - center[1]
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bX = fp[0] - center[0]
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bY = fp[1] - center[1]
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if code == 2: # If in fucked up anti-trigonometric direction
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angleA = np.atan2(bY, bX)
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angleB = np.atan2(aY, aX)
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else:
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angleA = np.atan2(aY, aX)
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angleB = np.atan2(bY, bX)
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if angleB <= angleA:
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angleB += 2 * np.pi
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angle = angleB - angleA
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radius = np.linalg.norm([aX, aY])
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length = radius * angle
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steps = np.ceil(length/self.curve_section)
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newPoint = [0., 0., 0.]
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for step in range(1, steps + 1):
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step = step if (code == 3) else steps - step
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newPoint[0] = center[0] + radius * np.cos(angleA + angle * (step / steps))
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newPoint[1] = center[1] + radius * np.sin(angleA + angle * (step / steps))
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self.set_position(newPoint[0], newPoint[1], fp[2])
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if self.feedrate > 0:
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self.feedrate_micros = self.calculate_feedrate_delay(self.feedrate)
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else:
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self.feedrate_micros = self.get_max_speed()
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self.move(self.feedrate_micros)
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case 4:
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time.sleep(search_string('P', instruction) * 1e-3)
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case 20:
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self.x_units = self.X_STEPS_PER_INCH
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self.y_units = self.Y_STEPS_PER_INCH
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self.z_units = self.Z_STEPS_PER_INCH
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self.curve_section = self.CURVE_SECTION_INCHES
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self.calculate_deltas()
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case 21:
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self.x_units = self.X_STEPS_PER_MM
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self.y_units = self.Y_STEPS_PER_MM
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self.z_units = self.Z_STEPS_PER_MM
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self.curve_section = self.CURVE_SECTION_MM
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self.calculate_deltas()
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case 28:
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self.set_target(0., 0., 0.)
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self.move(self.get_max_speed())
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case 30:
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fp = [0., 0., 0.]
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fp[0] = search_string('X', instruction)
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fp[1] = search_string('Y', instruction)
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fp[2] = search_string('Z', instruction)
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if self.abs_mode:
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if not has_command('X', instruction):
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fp[0] = self.current_units[0]
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if not has_command('Y', instruction):
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fp[1] = self.current_units[1]
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if not has_command('Z', instruction):
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fp[2] = self.current_units[2]
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self.set_target(fp[0], fp[1], fp[2])
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else:
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self.set_target(self.current_units[0] + fp[0], self.current_units[1] + fp[1], self.current_units[2] + fp[2])
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self.move(self.get_max_speed())
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self.set_target(0., 0., 0.)
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self.move(self.get_max_speed())
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return
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def execute(self, gcode):
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velocities = []
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for instruction in gcode:
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velocities.append(self.instruction_to_velocities(instruction))
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return velocities
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def draw(self, file_path: str):
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with open(file_path, "r") as gcode_file:
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gcode = gcode_file.readlines()
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self.execute(gcode)
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def velocities_to_positions(self, velocities):
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return
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def has_command(key: str, instruction: str) -> bool:
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return key in instruction
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def search_string(key: str, instruction: str) -> int:
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index = instruction.find(key)
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tmp = instruction[index+1:].split(' ')[0]
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return int(tmp)
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