def reference_point(): global a, b, c motor((-1 * a), 100, 'a') motor((-1 * b), 100, 'b') motor((-1 * c), 100, 'c') read_save_position.save_position(0, 0, 0)
def correction_b(steps_a): alpha = steps_to_angle(steps_a) x = (((-1 * distance) - (radius_a * math.degrees(math.cos(alpha))) + target_distance) / (radius_b)) beta = math.asin(x) beta = math.degrees(beta) new_position = angle_to_steps(beta) read_save_position.save_position(a, new_position, c) return new_position
def coordinate2(m_a, m_b, m_c, delay):
global a, b, c
print(old_a, old_b, old_c, a, b, c)
steps_a = (int(m_a) - int(a))
steps_b = (int(m_b) - int(b))
steps_c = (int(m_c) - int(c))
motor(int(steps_a), delay, 'a')
motor(int(steps_b), delay, 'b')
motor(int(steps_c), delay, 'c')
read_save_position.save_position(m_a, m_b, m_c)
print('steps: '+ str(steps_a) +' '+ str(steps_b) +' '+ str(steps_c))
def latest_position():
global old_a, old_b, old_c, a, b, c
print(old_a, old_b, old_c, a, b, c)
steps_a = (int(old_a) - int(a))
steps_b = (int(old_b) - int(b))
steps_c = (int(old_c) - int(c))
motor(int(steps_a), 1, 'a')
motor(int(steps_b), 1, 'b')
motor(int(steps_c), 1, 'c')
read_save_position.save_position(old_a, old_b, old_c)
print('steps: '+ str(steps_a) +' '+ str(steps_b) +' '+ str(steps_c))
def coordinate1(x, z, delay):
global old_a, old_b, old_c, a, b, c
steps_a = motor_a(int(x), 1)
steps_c = motor_c(int(z), 1)
new_a = int(old_a) + int(steps_a)
new_b = int(old_b) - int(b) # TODO
new_c = int(old_c) + int(steps_c)
read_save_position.save_position(new_a, new_b, new_c)
motor(steps_a, 1, 'a')
motor(1, 1, 'b')
motor(steps_c, 1, 'c')
print(steps_a, 1, steps_c)
def tracking(x_dist, z_dist): global old_a, old_b, old_c, a, b, c steps_a = motor_a(x_dist, 1) steps_c = motor_c(z_dist, 1) new_a = int(old_a) + int(steps_a) new_b = int(old_b) - int(b) # TODO new_c = int(old_c) + int(steps_c) read_save_position.save_position(new_a, new_b, new_c) motor(steps_a, 1, 'a') motor(1, 1, 'b') motor(steps_c, 1, 'c') print(steps_a, 1, steps_c)
def automatic(x_dist, z_dist): global old_a, old_b, old_c, a, b, c steps_a = motor_a(x_dist, 1) steps_c = motor_c(z_dist, 1) new_a = int(old_a) + int(steps_a) new_b = int(old_b) - int(b) # TODO # steps_b = int(correction_b(steps_a) # new_b = int(old_b) + ) new_c = int(old_c) + int(steps_c) # steps_c = (int(steps_c) + int(correction_c(steps_b)) # new_c = int(old_c) + int(steps_c) read_save_position.save_position(new_a, new_b, new_c) motor(steps_a, 1, 'a') motor(1, 1, 'b') motor(steps_c, 1, 'c') print(steps_a, 1, steps_c)
def update_position(new_a, new_b, new_c):
global a, b, c
read_save_position.save_position(new_a, new_b, new_c)
a = int(new_a)
b = int(new_b)
c = int(new_c)