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add E axis

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This commit is contained in:
Nikolay Khabarov
2017-05-27 18:47:01 +03:00
parent 665ba2ad1e
commit a87e2a379b
11 changed files with 238 additions and 147 deletions
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tests/test_gmachine.py
+39 -38
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@@ -20,28 +20,28 @@ class TestGMachine(unittest.TestCase):
m.do_command(GCode.parse_line("G91"))
m.do_command(GCode.parse_line("X1Y1Z1"))
m.reset()
m.do_command(GCode.parse_line("X3Y4Z5"))
self.assertEqual(m.position(), Coordinates(3, 4, 5))
m.do_command(GCode.parse_line("X3Y4Z5E6"))
self.assertEqual(m.position(), Coordinates(3, 4, 5, 6))
def test_release(self):
# release homes head.
m = GMachine()
m.do_command(GCode.parse_line("X1Y2Z3"))
m.do_command(GCode.parse_line("X1Y2Z3E4"))
m.release()
self.assertEqual(m.position(), Coordinates(0, 0, 0))
self.assertEqual(m.position(), Coordinates(0, 0, 0, 4))
def test_home(self):
m = GMachine()
m.do_command(GCode.parse_line("X1Y2Z3"))
m.do_command(GCode.parse_line("X1Y2Z3E4"))
m.home()
self.assertEqual(m.position(), Coordinates(0, 0, 0))
self.assertEqual(m.position(), Coordinates(0, 0, 0, 4))
def test_none(self):
# GMachine must ignore None commands, since GCode.parse_line()
# returns None if no gcode found in line.
m = GMachine()
m.do_command(None)
self.assertEqual(m.position(), Coordinates(0, 0, 0))
self.assertEqual(m.position(), Coordinates(0, 0, 0, 0))
def test_unknown(self):
# Test commands which doesn't exists
@@ -54,10 +54,10 @@ class TestGMachine(unittest.TestCase):
# Test gcode commands.
def test_g0_g1(self):
m = GMachine()
m.do_command(GCode.parse_line("G0X3Y2Z1"))
self.assertEqual(m.position(), Coordinates(3, 2, 1))
m.do_command(GCode.parse_line("G1X1Y2Z3"))
self.assertEqual(m.position(), Coordinates(1, 2, 3))
m.do_command(GCode.parse_line("G0X3Y2Z1E-2"))
self.assertEqual(m.position(), Coordinates(3, 2, 1, -2))
m.do_command(GCode.parse_line("G1X1Y2Z3E4"))
self.assertEqual(m.position(), Coordinates(1, 2, 3, 4))
self.assertRaises(GMachineException,
m.do_command, GCode.parse_line("G1F-1"))
self.assertRaises(GMachineException,
@@ -86,7 +86,7 @@ class TestGMachine(unittest.TestCase):
m.do_command, GCode.parse_line("G2X99999999Y99999999I1J1"))
self.assertRaises(GMachineException,
m.do_command, GCode.parse_line("G2X2Y2Z99999999I1J1"))
self.assertEqual(m.position(), Coordinates(0, 0, 0))
self.assertEqual(m.position(), Coordinates(0, 0, 0, 0))
self.assertRaises(GMachineException,
m.do_command, GCode.parse_line("G2X4Y4I2J2"))
self.assertRaises(GMachineException,
@@ -94,10 +94,10 @@ class TestGMachine(unittest.TestCase):
m.do_command(GCode.parse_line("G1X1"))
m.do_command(GCode.parse_line("G2J1"))
m.do_command(GCode.parse_line("G3J1"))
self.assertEqual(m.position(), Coordinates(1, 0, 0))
self.assertEqual(m.position(), Coordinates(1, 0, 0, 0))
m.do_command(GCode.parse_line("G1X5Y5"))
m.do_command(GCode.parse_line("G2X0Y0Z5I-2J-2"))
self.assertEqual(m.position(), Coordinates(0, 0, 5))
self.assertEqual(m.position(), Coordinates(0, 0, 5, 0))
def test_g4(self):
@@ -120,47 +120,48 @@ class TestGMachine(unittest.TestCase):
def test_g20_g21(self):
m = GMachine()
m.do_command(GCode.parse_line("G20"))
m.do_command(GCode.parse_line("X3Y2Z1"))
self.assertEqual(m.position(), Coordinates(76.2, 50.8, 25.4))
m.do_command(GCode.parse_line("X3Y2Z1E0.5"))
self.assertEqual(m.position(), Coordinates(76.2, 50.8, 25.4, 12.7))
m.do_command(GCode.parse_line("G21"))
m.do_command(GCode.parse_line("X3Y2Z1"))
self.assertEqual(m.position(), Coordinates(3, 2, 1))
m.do_command(GCode.parse_line("X3Y2Z1E0.5"))
self.assertEqual(m.position(), Coordinates(3, 2, 1, 0.5))
def test_g90_g91(self):
m = GMachine()
m.do_command(GCode.parse_line("G91"))
m.do_command(GCode.parse_line("X1Y1Z1E1"))
m.do_command(GCode.parse_line("X1Y1Z1"))
m.do_command(GCode.parse_line("X1Y1"))
m.do_command(GCode.parse_line("X1"))
self.assertEqual(m.position(), Coordinates(3, 2, 1))
m.do_command(GCode.parse_line("X-1Y-1Z-1"))
self.assertEqual(m.position(), Coordinates(4, 3, 2, 1))
m.do_command(GCode.parse_line("X-1Y-1Z-1E-1"))
m.do_command(GCode.parse_line("G90"))
m.do_command(GCode.parse_line("X1Y1Z1"))
self.assertEqual(m.position(), Coordinates(1, 1, 1))
m.do_command(GCode.parse_line("X1Y1Z1E1"))
self.assertEqual(m.position(), Coordinates(1, 1, 1, 1))
def test_g90_g92(self):
m = GMachine()
m.do_command(GCode.parse_line("G92X100Y100Z100"))
m.do_command(GCode.parse_line("X101Y102Z103"))
self.assertEqual(m.position(), Coordinates(1, 2, 3))
m.do_command(GCode.parse_line("G92X-1Y-1Z-1"))
m.do_command(GCode.parse_line("X1Y1Z1"))
self.assertEqual(m.position(), Coordinates(3, 4, 5))
m.do_command(GCode.parse_line("G92X3Y4Z5"))
m.do_command(GCode.parse_line("X0Y0Z0"))
self.assertEqual(m.position(), Coordinates(0, 0, 0))
m.do_command(GCode.parse_line("G92X100Y100Z100E100"))
m.do_command(GCode.parse_line("X101Y102Z103E104"))
self.assertEqual(m.position(), Coordinates(1, 2, 3, 4))
m.do_command(GCode.parse_line("G92X-1Y-1Z-1E-1"))
m.do_command(GCode.parse_line("X1Y1Z1E1"))
self.assertEqual(m.position(), Coordinates(3, 4, 5, 6))
m.do_command(GCode.parse_line("G92X3Y4Z5E6"))
m.do_command(GCode.parse_line("X0Y0Z0E0"))
self.assertEqual(m.position(), Coordinates(0, 0, 0, 0))
m.do_command(GCode.parse_line("G90"))
m.do_command(GCode.parse_line("X6Y7Z8"))
self.assertEqual(m.position(), Coordinates(6, 7, 8))
m.do_command(GCode.parse_line("X6Y7Z8E9"))
self.assertEqual(m.position(), Coordinates(6, 7, 8, 9))
def test_g53_g91_g92(self):
m = GMachine()
m.do_command(GCode.parse_line("G92X-50Y-60Z-70"))
m.do_command(GCode.parse_line("X-45Y-55Z-65"))
self.assertEqual(m.position(), Coordinates(5, 5, 5))
m.do_command(GCode.parse_line("G92X-50Y-60Z-70E-80"))
m.do_command(GCode.parse_line("X-45Y-55Z-65E-75"))
self.assertEqual(m.position(), Coordinates(5, 5, 5, 5))
m.do_command(GCode.parse_line("G91"))
m.do_command(GCode.parse_line("X-1Y-2Z-3"))
self.assertEqual(m.position(), Coordinates(4, 3, 2))
m.do_command(GCode.parse_line("X-1Y-2Z-3E-4"))
self.assertEqual(m.position(), Coordinates(4, 3, 2, 1))
def test_m3_m5(self):
m = GMachine()