mirror of
https://github.com/sinseman44/PyCNC.git
synced 2026-04-20 18:48:11 +00:00
74 lines
2.5 KiB
Python
74 lines
2.5 KiB
Python
# This implementation allows to use different hardware.
|
|
# Imported module contains functions for hardware access fo some board/SoC.
|
|
# List of HAL methods that should be implemented in each module:
|
|
# def init():
|
|
# """ Initialize GPIO pins and machine itself, including calibration if
|
|
# needed. Do not return till all procedure is completed.
|
|
# """
|
|
# logging.info("initialize hal")
|
|
# do_something()
|
|
#
|
|
#
|
|
# def spindle_control(percent):
|
|
# """ Spindle control implementation.
|
|
# :param percent: Spindle speed in percent. 0 turns spindle off.
|
|
# """
|
|
# logging.info("spindle control: {}%".format(percent))
|
|
# do_something()
|
|
#
|
|
#
|
|
# def move_linear(delta, velocity):
|
|
# """ Move head to specified distance with specified speed.
|
|
# :param delta: Coordinated object, delta position in mm
|
|
# :param velocity: velocity in mm per min
|
|
# """
|
|
# do_something()
|
|
#
|
|
#
|
|
# 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.
|
|
# """
|
|
# do_something()
|
|
#
|
|
#
|
|
# def join():
|
|
# """ Wait till motors work.
|
|
# """
|
|
# do_something()
|
|
#
|
|
#
|
|
# def deinit():
|
|
# """ De-initialise hal, stop any hardware.
|
|
# """
|
|
# do_something()
|
|
|
|
|
|
# check which module to import
|
|
try:
|
|
from cnc.hal_raspberry.hal import *
|
|
except ImportError:
|
|
print("----- Hardware not detected, using virtual environment -----")
|
|
print("----- Use M111 command to enable more detailed debug -----")
|
|
from cnc.hal_virtual import *
|
|
|
|
# check if all methods that is needed is implemented
|
|
if 'init' not in locals():
|
|
raise NotImplementedError("hal.init() not implemented")
|
|
if 'spindle_control' not in locals():
|
|
raise NotImplementedError("hal.spindle_control() not implemented")
|
|
if 'move_linear' not in locals():
|
|
raise NotImplementedError("hal.move_linear() not implemented")
|
|
if 'move_circular' not in locals():
|
|
raise NotImplementedError("hal.move_circular() not implemented")
|
|
if 'join' not in locals():
|
|
raise NotImplementedError("hal.join() not implemented")
|
|
if 'deinit' not in locals():
|
|
raise NotImplementedError("hal.deinit() not implemented")
|
|
|