def queue_extended_point(self,
position,
dda_speed,
e_distance,
feedrate_mm_sec,
relative_axes=[]):
"""
Move the toolhead to a new position at the given rate
@param list position: 5D position to move to. All dimension should be in steps.
@param double rate: Movement speed, in steps/??
"""
if len(position) != self.extendedPointLength:
raise makerbot_driver.PointLengthError(len(position))
if self.send_accelerated_point:
dda_rate = 1000000.0 / float(dda_speed)
self.queue_extended_point_accelerated(position, dda_rate,
relative_axes, e_distance,
feedrate_mm_sec)
else:
payload = struct.pack(
'<BiiiiiI', makerbot_driver.
host_action_command_dict['QUEUE_EXTENDED_POINT'], position[0],
position[1], position[2], position[3], position[4], dda_speed)
self.writer.send_action_payload(payload)
def calculate_vector_difference(minuend, subtrahend):
""" Given two 5d vectors represented as lists, calculates their
difference (minued - subtrahend)
@param list minuend: 5D vector to be subracted from
@param list subtrahend: 5D vector to subtract from the minuend
@return list difference
"""
if len(minuend) != 5:
raise makerbot_driver.PointLengthError(
"Expected list of length 5, got length %i" % (len(minuend)))
if len(subtrahend) != 5:
raise makerbot_driver.PointLengthError(
"Expected list of length 5, got length %i" % (len(subtrahend)))
difference = []
for m, s in zip(minuend, subtrahend):
difference.append(m - s)
return difference
def calculate_euclidean_distance(minuend, subtrahend):
"""
Given two points of the same dimension, calculates their
euclidean distance
@param list minuend: 5D vector to be subracted from
@param list subtrahend: 5D vector to subtract from the minuend
@param int distance: Distance between the two points
"""
if not len(minuend) == len(subtrahend):
raise makerbot_driver.PointLengthError("Expected identical lengths, instead got %i %i" % (len(minuend), len(subtrahend)))
distance = 0.0
for m, s in zip(minuend, subtrahend):
distance += pow(m - s, 2)
distance = math.sqrt(distance)
return distance
def set_extended_position(self, position):
"""
Inform the machine that it should consider this point its current point
@param list position: 5D position to set the machine to, in steps.
"""
if len(position) != self.extendedPointLength:
raise makerbot_driver.PointLengthError(len(position))
payload = struct.pack(
'<Biiiii',
makerbot_driver.host_action_command_dict['SET_EXTENDED_POSITION'],
position[0],
position[1],
position[2],
position[3],
position[4],
)
self.writer.send_action_payload(payload)
def queue_extended_point_new(self, position, duration, relative_axes):
"""
Queue a position with the new style! Moves to a certain position over a given duration
with either relative or absolute positioning. Relative vs. Absolute positioning
is done on an axis to axis basis.
@param list position: A 5 dimentional position in steps specifying where each axis should move to
@param int duration: The total duration of the move in miliseconds
@param list relative_axes: Array of axes whose coordinates should be considered relative
"""
if len(position) != self.extendedPointLength:
raise makerbot_driver.PointLengthError(len(position))
payload = struct.pack(
'<BiiiiiIB', makerbot_driver.
host_action_command_dict['QUEUE_EXTENDED_POINT_NEW'], position[0],
position[1], position[2], position[3], position[4], duration,
makerbot_driver.Encoder.encode_axes(relative_axes))
self.writer.send_action_payload(payload)
def queue_extended_point_accelerated(self, position, dda_rate,
relative_axes, distance, feedrate):
"""
Queue a position with the new style! Moves to a certain position over a given duration
with either relative or absolute positioning. Relative vs. Absolute positioning
is done on an axis to axis basis.
@param list position: A 5 dimentional position in steps specifying where each axis should move to
@param int dda_rate: Steps per second along the master axis
@param list relative_axes: Array of axes whose coordinates should be considered relative
@param float distance: distance in millimeters moved in (x,y,z) space OR if distance(x,y,z) == 0, then max(distance(A),distance(B))
@param float feedrate: the actual feedrate in units of millimeters/second
"""
if len(position) != self.extendedPointLength:
raise makerbot_driver.PointLengthError(len(position))
payload = struct.pack(
'<BiiiiiIBfh', makerbot_driver.makerbot_driver.
host_action_command_dict['QUEUE_EXTENDED_POINT_ACCELERATED'],
position[0], position[1], position[2], position[3], position[4],
dda_rate, makerbot_driver.Encoder.encode_axes(relative_axes),
float(distance), int(feedrate * 64.0))
self.writer.send_action_payload(payload)