def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
class Replicape:
''' Init '''
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
''' When a new gcode comes in, excute it '''
def loop(self):
print "Replicape starting main"
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
if gcode.prot == "USB":
self.usb.send_message(gcode.getAnswer())
elif gcode.prot == "PIPE":
self.pipe.send_message(gcode.getAnswer())
else:
self.ethernet.send_message(gcode.getAnswer())
self.commands.task_done()
except Exception as e:
logging.exception("Ooops: ")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter("F"))/60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
if g.hasLetter("E") and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement, g.is_crc())# Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE", False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0", "H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate, "G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
SMD.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
SMD.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to "+str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to "+str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:"+str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:"+str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:"+str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(float(g.getValueByLetter("S"))/255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0))/255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: "+' '.join('%s:%s' % i for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M142":
self.stat = True
elif g.code() == "M143":
self.stat = False
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: "+g.message)
def __init__(self):
logging.info("Replicape initializing " + version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(
self.config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(
self.config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
self.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
self.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
"B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
"B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
"B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1(
"/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1,
self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP(self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2,
self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1: self.fan_2, 2: self.fan_3}
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0, "H": 0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
class Replicape:
''' Init '''
def __init__(self):
logging.info("Replicape initializing " + version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(
self.config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(
self.config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
self.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
self.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
"B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
"B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
"B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1(
"/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1,
self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP(self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2,
self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1: self.fan_2, 2: self.fan_3}
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0, "H": 0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
''' When a new gcode comes in, excute it '''
def loop(self):
print "Replicape starting main"
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
if gcode.prot == "USB":
self.usb.send_message(gcode.getAnswer())
elif gcode.prot == "PIPE":
self.pipe.send_message(gcode.getAnswer())
else:
self.ethernet.send_message(gcode.getAnswer())
self.commands.task_done()
except Exception as e:
logging.exception("Ooops: ")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter(
"F")) / 60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(
i)) / 1000.0 # Get the value, new position or vector
if g.hasLetter(
"E"
) and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement,
g.is_crc()) # Make a path segment from the axes
self.path_planner.add_path(
path
) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(
g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE",
False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(
path
) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code(
) == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0",
"H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(
i)) / 1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate,
"G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
SMD.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(
int(g.tokenValue(i)))
SMD.commit()
elif g.code(
) == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(
float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
SMD.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(
float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to " +
str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(
float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to " + str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:" + str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:" + str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:" + str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:" + str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(
float(g.getValueByLetter("S")) /
255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0)) / 255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: " +
' '.join('%s:%s' % i
for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M142":
self.stat = True
elif g.code() == "M143":
self.stat = False
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: " + g.message)
def __init__(self):
# Init the IO library
io.bbio_init()
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors
self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A?
self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y")
self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z")
self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1")
self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
self.steppers["X"].setCurrentValue(1.0) # 2A
self.steppers["X"].setEnabled()
self.steppers["X"].set_steps_pr_mm(6.105)
self.steppers["X"].set_microstepping(2)
self.steppers["Y"].setCurrentValue(1.0) # 2A
self.steppers["Y"].setEnabled()
self.steppers["Y"].set_steps_pr_mm(5.95)
self.steppers["Y"].set_microstepping(2)
self.steppers["Z"].setCurrentValue(1.0) # 2A
self.steppers["Z"].setEnabled()
self.steppers["Z"].set_steps_pr_mm(155)
self.steppers["Z"].set_microstepping(2)
self.steppers["E"].setCurrentValue(1.0) # 2A
self.steppers["E"].setEnabled()
self.steppers["E"].set_steps_pr_mm(5.0)
self.steppers["E"].set_microstepping(2)
# init the 3 thermistors
self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD")
self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1
self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1
self.mosfet_ext2 = Mosfet(io.PWM2A) #
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1)
self.ext1.setPvalue(0.5)
self.ext1.setDvalue(0.1)
self.ext1.setIvalue(0.001)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(3)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
# Make a queue of commands
self.commands = Queue.Queue()
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Get all options
self.options = Options()
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
self.acceleration = 300.0/1000.0
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
logging.debug("Debug prints to console")
class Replicape:
''' Init '''
def __init__(self):
# Init the IO library
io.bbio_init()
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors
self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A?
self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y")
self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z")
self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1")
self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
self.steppers["X"].setCurrentValue(1.0) # 2A
self.steppers["X"].setEnabled()
self.steppers["X"].set_steps_pr_mm(6.105)
self.steppers["X"].set_microstepping(2)
self.steppers["Y"].setCurrentValue(1.0) # 2A
self.steppers["Y"].setEnabled()
self.steppers["Y"].set_steps_pr_mm(5.95)
self.steppers["Y"].set_microstepping(2)
self.steppers["Z"].setCurrentValue(1.0) # 2A
self.steppers["Z"].setEnabled()
self.steppers["Z"].set_steps_pr_mm(155)
self.steppers["Z"].set_microstepping(2)
self.steppers["E"].setCurrentValue(1.0) # 2A
self.steppers["E"].setEnabled()
self.steppers["E"].set_steps_pr_mm(5.0)
self.steppers["E"].set_microstepping(2)
# init the 3 thermistors
self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD")
self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1
self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1
self.mosfet_ext2 = Mosfet(io.PWM2A) #
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1)
self.ext1.setPvalue(0.5)
self.ext1.setDvalue(0.1)
self.ext1.setIvalue(0.001)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(3)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
# Make a queue of commands
self.commands = Queue.Queue()
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Get all options
self.options = Options()
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
self.acceleration = 300.0/1000.0
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
logging.debug("Debug prints to console")
''' When a new gcode comes in, excute it '''
def loop(self):
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
self.usb.send_message(gcode.getAnswer())
self.commands.task_done()
except KeyboardInterrupt:
print "Caught signal, exiting"
return
finally:
self.ext1.disable()
self.hbp.disable()
self.usb.close()
self.path_planner.exit()
logging.debug("Done")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
feed_rate = float(g.getValueByLetter("F"))
g.removeTokenByLetter("F")
else: # If no feed rate is set in the command, use the default.
feed_rate = self.feed_rate
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, feed_rate, self.movement) # Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE") # Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G29":
print self.current_pos
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
if g.numTokens() == 0:
g.setTokens(["X0", "Y0", "Z0", "E0"]) # If no token is present, do this for all
for i in range(g.numTokens()):
axis = g.tokenLetter(i)
val = float(g.tokenValue(i))
self.path_planner.set_pos(axis, val)
elif g.code() == "M17": # Enable all steppers
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
answer += " B:"+str(int(self.hbp.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(100)
fan.setValue(float(g.getValueByLetter("S")))
else:
self.fan_1.setPWMFrequency(100)
self.fan_1.setValue(float(g.tokenValue(0)))
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
else:
print "Unknown command: "+g.message