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parser for circular interpolation

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This commit is contained in:
Nikolay Khabarov
2017-05-22 04:01:45 +03:00
parent d77d8e0b20
commit 0de4f3dc00
9 changed files with 247 additions and 21 deletions
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cnc/hal_raspberry/hal.py
+16 -2
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@@ -90,7 +90,7 @@ def init():
def spindle_control(percent):
""" Spindle control implementation.
:param percent: Spindle speed in percent. If 0, stop the spindle.
:param percent: spindle speed in percent. If 0, stop the spindle.
"""
logging.info("spindle control: {}%".format(percent))
if percent > 0:
@@ -101,7 +101,7 @@ def spindle_control(percent):
def move_linear(delta, velocity):
""" Move head to specified position
:param delta: Coordinated object, delta position in mm
:param delta: coordinated object, delta position in mm
:param velocity: velocity in mm per min
"""
logging.info("move {} with velocity {}".format(delta, velocity))
@@ -166,6 +166,20 @@ def move_linear(delta, velocity):
+ str(round(generator.total_time_s(), 2)) + "s")
def move_circular(delta, radius, plane, velocity, direction):
""" Move with circular interpolation.
:param delta: finish position delta from the beginning, must be on
circle on specified plane. Zero means full circle.
:param radius: vector to center of circle.
:param plane: plane to interpolate.
:param velocity: velocity in mm per min.
:param direction: clockwise or counterclockwise.
"""
logging.info("TODO move_circular {} {} {} with radius {} and velocity {}".
format(plane, delta, direction, radius, velocity))
# TODO
def join():
""" Wait till motors work.
"""