vincent/PyCNC
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add E axis

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Nikolay Khabarov committed 2017-05-27 18:47:01 +03:00
1 parent 665ba2ad1e
commit a87e2a379b
11 files changed
+238 -147
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cnc/gmachine.py
+20 -16
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@@ -22,7 +22,7 @@ class GMachine(object):
def __init__(self):
""" Initialization.
"""
self._position = Coordinates(0.0, 0.0, 0.0)
self._position = Coordinates(0.0, 0.0, 0.0, 0.0)
# init variables
self._velocity = 0
self._spindle_rpm = 0
@@ -48,11 +48,11 @@ class GMachine(object):
self._velocity = 1000
self._spindle_rpm = 1000
self._pause = 0
self._local = Coordinates(0.0, 0.0, 0.0)
self._local = Coordinates(0.0, 0.0, 0.0, 0.0)
self._convertCoordinates = 1.0
self._absoluteCoordinates = True
self._plane = PLANE_XY
self._radius = Coordinates(0.0, 0.0, 0.0)
self._radius = Coordinates(0.0, 0.0, 0.0, 0.0)
def _spindle(self, spindle_speed):
hal.join()
@@ -60,14 +60,15 @@ class GMachine(object):
def __check_delta(self, delta):
pos = self._position + delta
if not pos.is_in_aabb(Coordinates(0.0, 0.0, 0.0),
Coordinates(TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM, TABLE_SIZE_Z_MM)):
if not pos.is_in_aabb(Coordinates(0.0, 0.0, 0.0, 0.0),
Coordinates(TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM, TABLE_SIZE_Z_MM, 0)):
raise GMachineException("out of effective area")
def _move_linear(self, delta, velocity):
delta = delta.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z)
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E)
if delta.is_zero():
return
self.__check_delta(delta)
@@ -130,10 +131,11 @@ class GMachine(object):
def _circular(self, delta, radius, velocity, direction):
delta = delta.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z)
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E)
self.__check_delta(delta)
# get delta vector and put it on circle
circle_end = Coordinates(0,0,0)
circle_end = Coordinates(0, 0, 0, 0)
if self._plane == PLANE_XY:
circle_end.x, circle_end.y = self.__adjust_circle(delta.x, delta.y,
radius.x, radius.y, direction,
@@ -152,9 +154,11 @@ class GMachine(object):
self._position.z, self._position.x,
TABLE_SIZE_Z_MM, TABLE_SIZE_X_MM)
circle_end.y = delta.y
circle_end.e = delta.e
circle_end = circle_end.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z)
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E)
hal.move_circular(circle_end, radius, self._plane, velocity, direction)
# if finish coords is not on circle, move some distance linearly
linear_delta = delta - circle_end
@@ -168,9 +172,9 @@ class GMachine(object):
def home(self):
""" Move head to park position
"""
d = Coordinates(0, 0, -self._position.z)
d = Coordinates(0, 0, -self._position.z, 0)
self._move_linear(d, STEPPER_MAX_VELOCITY_MM_PER_MIN)
d = Coordinates(-self._position.x, -self._position.y, 0)
d = Coordinates(-self._position.x, -self._position.y, 0, 0)
self._move_linear(d, STEPPER_MAX_VELOCITY_MM_PER_MIN)
def position(self):
@@ -207,7 +211,8 @@ class GMachine(object):
coord = coord + self._local
delta = coord - self._position
else:
delta = gcode.coordinates(Coordinates(0.0, 0.0, 0.0), self._convertCoordinates)
delta = gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
coord = self._position + delta
velocity = gcode.get('F', self._velocity)
spindle_rpm = gcode.get('S', self._spindle_rpm)
@@ -245,14 +250,14 @@ class GMachine(object):
elif c == 'G28': # home
self.home()
elif c == 'G53': # switch to machine coords
self._local = Coordinates(0.0, 0.0, 0.0)
self._local = Coordinates(0.0, 0.0, 0.0, 0.0)
elif c == 'G90': # switch to absolute coords
self._absoluteCoordinates = True
elif c == 'G91': # switch to relative coords
self._absoluteCoordinates = False
elif c == 'G92': # switch to local coords
self._local = self._position - \
gcode.coordinates(Coordinates(0.0, 0.0, 0.0),
gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
elif c == 'M3': # spinle on
self._spindle(spindle_rpm)
@@ -271,5 +276,4 @@ class GMachine(object):
self._spindle_rpm = spindle_rpm
self._pause = pause
self._radius = radius
logging.debug("position {}, {}, {}".format(
self._position.x, self._position.y, self._position.z))
logging.debug("position {}".format(self._position))