def zero_me(self):
'''Zero the plotter(move it to home)'''
# The delay in us
delay = frequency_to_delay(mm_to_steps(config.ZERO_RATE))
# 1 Second of waves are generated at a time(just in case)
safety_pregen_no = mm_to_steps(config.ZERO_RATE)
# For each axis
for is_x, triggerp, extent, endinverted in [[
True, config.X_MIN, config.X_EXTENT, config.X_END_INVERTED
], [False, config.Y_MIN, config.Y_EXTENT, config.Y_END_INVERTED]]:
self.wait_till_idle()
theoretical_maximum_steps = mm_to_steps(extent)
steps_moved = 0
while steps_moved < theoretical_maximum_steps:
# This limits just in case of malfunction (inversion for endstops -> high when pressed)
endstop = (self.gpio.read(triggerp) == 1) == endinverted
if endstop:
self.stop()
logger.info("ZERO AXIS SUCCESS")
break
if not self.dma.is_active():
self._set_direction(False, False)
for _ in range(safety_pregen_no):
steps_moved += 1
self._pulse_steppers(is_x, not is_x, delay)
# We are now zeroed.
self.location = Point(0, 0)
def __init__(self, x, y, unit='mm'):
# Initialise as either mm or steps
# Internally stored as steps
if unit == 'mm':
self.x = utils.mm_to_steps(x)
self.y = utils.mm_to_steps(y)
else:
self.x = x
self.y = y
def goto(self, point):
logger.info("GOTO " + str(point))
# Get no. steps to endpoint
x, y = self._get_steps_to(point)
dirx = diry = True
# If steps are negative, change direction and make steps positive
if (x < 0):
dirx = False
x = abs(x)
if (y < 0):
diry = False
y = abs(y)
# Add the pulse for setting the direction
self._set_direction(dirx, diry)
# Rate is a frequency, get us between pulses
delay_per_pulseset = frequency_to_delay(mm_to_steps(config.GOTO_RATE))
# -DEBUG-
pulse_count = 0
# Add pulses until correct no. of steps is achieved.
while (x > 0) or (y > 0):
# Decrement
if x > 0:
x -= 1
if y > 0:
y -= 1
# Add the pulse for the steppers
self._pulse_steppers(x > 0, y > 0, delay_per_pulseset)
pulse_count += 1
logger.debug("GOTO generated {} pulses".format(pulse_count))
# Update location
self.location = point
def draw_line(self, start, finish, rate):
logger.info("LINE from {} to {}".format(str(start), str(finish)))
# ensure at start point
if self.location != start:
self.goto(start)
# Get no. steps to endpoint
x, y = self._get_steps_to(finish)
dirx = diry = True
# If steps are negative, change direction and make steps positive
if (x < 0):
dirx = False
x = abs(x)
if (y < 0):
diry = False
y = abs(y)
# Add the pulse for setting the direction
self._set_direction(dirx, diry)
# generate pulses
pulse_count = self._generate_line_pulses((x, y), mm_to_steps(rate))
logger.debug("LINE generated {} pulses".format(pulse_count))
self.location = finish
def y_mm(self, value):
self.y = utils.mm_to_steps(value)
def x_mm(self, value):
self.x = utils.mm_to_steps(value)