Skip to content
Navigation Menu
{{ message }}
forked from gunny26/raspberry
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathGCodeController.py
More file actions
495 lines (429 loc) · 16.6 KB
/
Copy pathGCodeController.py
File metadata and controls
495 lines (429 loc) · 16.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
#!/usr/bin/python
#
#
"""
Program to interpret Gcode from Commandline and control 2-axis Stepper Motor with Laser Engraver
"""
import RPi.GPIO as GPIO
import time
import sys
import logging
logging.basicConfig(level=logging.DEBUG)
import traceback
import math
class UnipolarStepperMotor(object):
"""
Class to represent a unipolar stepper motor
it could only with on one dimension, forward or backwards
coil -> set(a1, a2, b1, b2) of GPIO Pins where these connectors are patched
delay -> int(milliseconds to wait between moves
max_position -> int(maximum position) is set to safe value of 1
min_position -> int(minimum position) is set to 0
"""
def __init__(self, coils, delay, max_position=1, min_position=0):
"""init"""
# original one from adafruit
self.sequence = [(1,0,1,0), (0,1,1,0), (0,1,0,1), (1,0,0,1)]
# trial, but does not work properly
#self.sequence = [(1,0,1,0), (0,0,1,0), (0,1,1,0), (0,1,0,0), (0,1,0,1), (0,0,0,1), (1,0,0,1), (1,0,0,0)]
# ok
#self.sequence = [(1,0,0,0), (0,0,1,0), (0,1,0,0), (0,0,0,1)]
# also ok
#self.sequence = [(1,0,0,0), (1,0,1,0), (0,0,1,0), (0,1,1,0), (0,1,0,0), (0,1,0,1), (0,0,0,1), (1,0,0,1)]
self.num_sequence = len(self.sequence)
self.coils = coils
for pin in self.coils:
GPIO.setup(pin, GPIO.OUT)
self.delay = int(delay) / 1000.0
self.position = 0
self.max_position = max_position
self.min_position = min_position
def sign(self, count):
"""return sign of value as either positive or negative 1"""
if count > 0:
return(1)
elif count < 0:
return(-1)
else:
return(0)
def move(self, direction, steps, delay_faktor=1):
"""
move to given direction number of steps, its relative
delay_faktor could be set, if this Motor is connected to a controller
which moves also another Motor
"""
assert type(direction) == int
assert -1 <= direction <= 1
assert type(steps) == int
for _ in range(steps):
self.position += direction
phase = self.sequence[self.position % self.num_sequence]
counter = 0
for pin in self.coils:
GPIO.output(pin, phase[counter])
counter += 1
time.sleep(self.delay / delay_faktor)
def unhold(self):
"""
sets any pin of motor to low, so no power is needed
"""
for pin in self.coils:
GPIO.output(pin, False)
def get_position(self):
"""
return actual position, always int
"""
return(self.position)
def set_position(self, position):
"""
set actual position without movin, for calibration use only
"""
assert type(position) == int
self.position = position
def set_min(self):
"""set minimum value, for calibration use only"""
self.min_position = self.position
def set_max(self):
"""set maximum value, for calibration use only"""
self.max_position = self.position
def goto(self, target):
"""go from actual position to targeti, target is given absolute"""
assert type(target) == int
steps = target - self.position
direction = self.sign(steps)
self.move(direction, abs(steps))
def run(self):
"""runs from max to min and back, for testing"""
if (self.max_position is not None) and (self.min_position is not None):
self.goto(self.min_position)
self.goto(self.max_position)
class BipolarStepperMotor(object):
"""
Class to represent a bipolar stepper motor
it could only with on one dimension, forward or backwards
cloil -> set(a1, a2, b1, b2) of GPIO Pins where these connectors are patched
delay -> int(milliseconds to wait between moves
max_position -> int(maximum position) is set to safe value of 1
min_position -> int(minimum position) is set to 0
"""
def __init__(self, coils, delay, max_position=1, min_position=0):
"""init"""
# original one from adafruit
self.sequence = [(1,0,1,0), (0,1,1,0), (0,1,0,1), (1,0,0,1)]
# trial, but does not work properly
self.sequence = [(1,0,1,0), (0,0,1,0), (0,1,1,0), (0,1,0,0), (0,1,0,1), (0,0,0,1), (1,0,0,1), (1,0,0,0)]
# ok
self.sequence = [(1,0,0,0), (0,0,1,0), (0,1,0,0), (0,0,0,1)]
# also ok
self.sequence = [(1,0,0,0), (1,0,1,0), (0,0,1,0), (0,1,1,0), (0,1,0,0), (0,1,0,1), (0,0,0,1), (1,0,0,1)]
self.num_sequence = len(self.sequence)
self.coils = coils
for pin in self.coils:
GPIO.setup(pin, GPIO.OUT)
self.delay = int(delay) / 1000.0
self.position = 0
self.max_position = max_position
self.min_position = min_position
def sign(self, count):
"""return sign of value as either positive or negative 1"""
if count > 0:
return(1)
elif count < 0:
return(-1)
else:
return(0)
def move(self, direction, steps, delay_faktor=1):
"""
move to given direction number of steps, its relative
delay_faktor could be set, if this Motor is connected to a controller
which moves also another Motor
"""
assert type(direction) == int
assert -1 <= direction <= 1
assert type(steps) == int
for _ in range(steps):
self.position += direction
phase = self.sequence[self.position % self.num_sequence]
counter = 0
for pin in self.coils:
GPIO.output(pin, phase[counter])
counter += 1
time.sleep(self.delay / delay_faktor)
def unhold(self):
"""
sets any pin of motor to low, so no power is needed
"""
for pin in self.coils:
GPIO.output(pin, False)
def get_position(self):
"""
return actual position, always int
"""
return(self.position)
def set_position(self, position):
"""
set actual position without movin, for calibration use only
"""
assert type(position) == int
self.position = position
def set_min(self):
"""set minimum value, for calibration use only"""
self.min_position = self.position
def set_max(self):
"""set maximum value, for calibration use only"""
self.max_position = self.position
def goto(self, target):
"""go from actual position to targeti, target is given absolute"""
assert type(target) == int
steps = target - self.position
direction = self.sign(steps)
self.move(direction, abs(steps))
def run(self):
"""runs from max to min and back, for testing"""
if (self.max_position is not None) and (self.min_position is not None):
self.goto(self.min_position)
self.goto(self.max_position)
class Point(object):
"""arbitrary point class"""
def __init__(self):
self.x = 0.0
self.y = 0.0
def get(self):
return((self.x, self.y))
def getx(self):
return(self.x)
def gety(self):
return(self.y)
def getx_int(self):
return(int(round(self.x)))
def gety_int(self):
return(int(round(self.y)))
def set(self, x, y):
self.x = x
self.y = y
def __str__(self):
return("(%s, %s)" % (self.x, self.y))
class XYController(object):
"""controls 2 Motors"""
def __init__(self, motorx, motory):
"""controls two motors, two coordinate movements"""
self.motorx = motorx
self.motory = motory
# internal coordinates are stored in float
self.position = Point()
# after calibration set ((0,0), (1024, 768))
self.min_boundary = Point()
self.max_boundary = Point()
def sign(self, count):
"""returns sign of count as either +1 or -1"""
if count > 0:
return(1)
elif count < 0:
return(-1)
else:
return(0)
def move(self, stepx, stepy):
"""
move to given x,y ccordinates
x,y are given relative to actual position
so to move in both direction at the same time,
parameter x or y has to be sometime float
"""
assert type(stepx) == float
assert type(stepy) == float
assert -1.0 <= stepx <= 1.0
assert -1.0 <= stepy <= 1.0
# if all both axis are moved, the delay could be halfed
delay_faktor = 1
if stepx <> 0.0 and stepy <> 0.0:
delay_faktor = 2
if stepx <> 0.0:
self.position.x += stepx
direction = self.sign(stepx)
# should motor move one full step
# length between controller position and motor position
length = abs(self.position.x - self.motorx.position)
step = int(round(length))
# only if step is rounded to 1 a full step will be done
if step == 1:
self.motorx.move(direction, step, delay_faktor)
if stepy <> 0.0:
self.position.y += stepy
direction = self.sign(stepy)
# should motor move one full step
# length between controller position and motor position
length = abs(self.position.y - self.motory.position)
step = int(round(length))
# only if step is rounded to 1 a full step will be done
if step == 1:
self.motory.move(direction, step, delay_faktor)
def set_max_x(self):
"""set maximum x coordinates"""
self.motorx.set_max()
self.max_boundary.x = self.position.x
def set_min_x(self):
"""set minimum x coordinates"""
self.motorx.set_min()
self.min_boundary.x = self.position.x
def set_max_y(self):
"""set maximum y coordinates"""
self.motory.set_max()
self.max_boundary.y = self.position.y
def set_min_y(self):
"""set minimum y coordinates"""
self.motory.set_min()
self.min_boundary.y = self.position.y
def goto(self, target_x, target_y):
"""goto abosulte x,y position"""
assert type(target_x) == int
assert type(target_y) == int
lengthx = target_x - self.position.getx()
lengthy = target_y - self.position.gety()
# maximum steps = maximum(length(x), length(y))
steps = max(abs(lengthx), abs(lengthy))
if steps > 0:
stepx = float(lengthx / steps)
stepy = float(lengthy / steps)
logging.info("steps: %s, stepx : %s, stepy : %s", steps, stepx, stepy)
for i in range(int(steps)):
self.move(stepx, stepy)
logging.info("Controller (%s, %s) != Motors (%s, %s)", self.position.x, self.position.y, self.motorx.position, self.motory.position)
# round position to eliminate floating point errors
self.position.x = round(self.position.x, 2)
self.position.y = round(self.position.y, 2)
logging.info("Controller (%s, %s) != Motors (%s, %s)", self.position.x, self.position.y, self.motorx.position, self.motory.position)
assert self.motorx.position == self.position.x
assert self.motory.position == self.position.y
def run(self):
"""goto every boundary, for testing purposes"""
# left up corner
self.goto(self.max_boundary.x, self.max_boundary.y)
self.goto(self.max_boundary.x, self.min_boundary.y)
self.goto(self.min_boundary.x, self.max_boundary.y)
self.goto(self.min_boundary.x, self.min_boundary.y)
def get_max(self):
"""get maximum point"""
return(self.max_boundary)
def get_min(self):
"""get minimum point"""
return(self.min_boundary)
def get_boundaries(self):
"""get area"""
return((self.get_min(), self.get_max()))
def get_position(self):
"""get actual position"""
return(self.position)
def unhold(self):
"""unhold motor to prevent power consumption"""
self.motorx.unhold()
self.motory.unhold()
class Laser(object):
def __init__(self, pin):
self.pin = pin
GPIO.setup(self.pin, GPIO.OUT)
def on(self):
GPIO.output(self.pin, 1)
def off(self):
GPIO.output(self.pin, 0)
def main():
# bring GPIO to a clean state
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
# enable lm293d with pin 18 HIGH
enable_pin = 18
GPIO.setup(enable_pin, GPIO.OUT)
GPIO.output(enable_pin, 1)
# delay in ms (milliseconds) for phase change
delay = 100.0
# maximum steps to move to get to the borders
maxx = 256
maxy = 256
# first motor on
motorx = BipolarStepperMotor((4, 17, 27, 22), delay, maxx)
# second motor
motory = BipolarStepperMotor((24, 25, 7, 8), delay, maxy)
laser = Laser(14)
# let controller handle these two motors
controller = XYController(motorx, motory)
# calculate a circle
points = []
step = 2 * math.pi / 360
for degree in range(360):
x = int(maxx / 2 + math.cos(degree * step) * maxx / 2)
y = int(maxy / 2 + math.sin(degree * step) * maxy / 2)
points.append((x, y))
key = ''
while True:
line = raw_input("Please enter GCode Command:")
# Code from http://hostcode.sourceforge.net/view/1086
if line[0:3] == 'G90':
print 'start'
elif line[0:3] == 'G20':# working in inch;
logging.info("%s working in inch", line)
dx /= 25.4
dy /= 25.4
elif line[0:3] == 'G21':# working in mm;
logging.info("%s Working in mm", line)
elif re.search("M?2 ", line):
elif line[0:3] == 'M05':
logging.info("%s Motor Off", line)
GPIO.output(Laser_switch,False)
elif line[0:3] == 'M03':
logging.info("%s Motor On", line)
GPIO.output(Laser_switch,True)
elif line[0:3] == 'M02':
logging.info("%s Complete Power Off", line)
GPIO.output(Laser_switch,False)
elif (line[0:3]=='G1F') or (line[0:4]=='G1 F'):
pass
elif (line[0:3]=='G0 ') or (line[0:3]=='G1 ') or (line[0:3]=='G01'):#|(lines[0:3]=='G02')|(lines[0:3]=='G03'):
#linear engraving movement
if (lines[0:3]=='G0 '):
engraving=False;
else:
engraving=True;
[x_pos,y_pos]=XYposition(lines);
moveto(MX,x_pos,dx,MY,y_pos,dy,speed,engraving);
elif (line[0:3] == 'G02') | (lines[0:3] == 'G03'): #circular interpolation
old_x_pos = x_pos
old_y_pos = y_pos
[x_pos,y_pos] = XYposition(lines)
[i_pos,j_pos] = IJposition(lines)
xcenter = old_x_pos + i_pos #center of the circle for interpolation
ycenter = old_y_pos + j_pos
Dx = x_pos - xcenter
Dy = y_pos - ycenter #vector [Dx,Dy] points from the circle center to the new position
r = sqrt(i_pos ** 2 + j_pos ** 2); # radius of the circle
e1 = [-i_pos,-j_pos] #pointing from center to current position
if (lines[0:3] == 'G02'): #clockwise
e2 = [e1[1],-e1[0]] #perpendicular to e1. e2 and e1 forms x-y system (clockwise)
else: #counterclockwise
e2 = [-e1[1],e1[0]] #perpendicular to e1. e1 and e2 forms x-y system (counterclockwise)
#[Dx,Dy]=e1*cos(theta)+e2*sin(theta), theta is the open angle
costheta = (Dx * e1[0] + Dy * e1[1]) / r ** 2
sintheta = (Dx * e2[0] + Dy * e2[1]) / r ** 2 #theta is the angule spanned by the circular interpolation curve
if costheta>1: # there will always be some numerical errors! Make sure abs(costheta)<=1
costheta=1
elif costheta<-1:
costheta=-1
theta=arccos(costheta)
if sintheta<0:
theta=2.0*pi-theta
no_step = int(round(r*theta/dx/5.0)) # number of point for the circular interpolation
for i in range(1,no_step+1):
tmp_theta=i*theta/no_step
tmp_x_pos=xcenter+e1[0]*cos(tmp_theta)+e2[0]*sin(tmp_theta)
tmp_y_pos=ycenter+e1[1]*cos(tmp_theta)+e2[1]*sin(tmp_theta)
moveto(MX,tmp_x_pos,dx,MY, tmp_y_pos,dy,speed,True)
# end borrowed code, have to pyhtonize this
controller.unhold()
time.sleep(delay / 1000.0)
GPIO.cleanup()
if __name__ == "__main__":
try:
main()
except Exception, exc:
GPIO.cleanup()
traceback.print_exc()
raise exc
sys.exit(1)
You can’t perform that action at this time.