def G1(X, Y, A, B):
b2, b3, b4, b5, b6, b7, b8 = i.MVP(mode, 0, X)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7, b8)
x = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
b2, b3, b4, b5, b6, b7, b8 = i.MVP(mode, 1, Y)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7, b8)
y = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
b2, b3, b4, b5, b6, b7, b8 = i.MVP(mode, 2, A)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7, b8)
a = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
b2, b3, b4, b5, b6, b7, b8 = i.MVP(mode, 3, B)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7, b8)
b = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
return (x, y, a, b)
def Bd(instance):
global bb1, bb2
b2, b3, b4, b5, b6, b7, b8 = i.MVP("REL", 3, negtravel)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7,
b8)
x = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
if (bb1 == 0) and (bb2 > 0):
bb1 = 1
bb2 = bb2 - travel
ser.write(bytearray([1, 138, 0, 0, 0, 0, 0, 8, 147]))
ser.write(x)
Thread(target=wait_until_reached).start()
self.bTravel.text = str(bb2)
self.terminal.text += "axis B descend: " + str(travel) + "mm\n"
else:
self.terminal.text += "axis B already moving or can't travel to negative\n"
def Ad(instance):
global a1, a2
b2, b3, b4, b5, b6, b7, b8 = i.MVP("REL", 2, negtravel)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7,
b8)
x = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
if (a1 == 0) and (a2 > 0):
a1 = 1
a2 = a2 - travel
ser.write(bytearray([1, 138, 0, 0, 0, 0, 0, 4, 143]))
ser.write(x)
Thread(target=wait_until_reached).start()
self.aTravel.text = str(a2)
self.terminal.text += "axis A descend: " + str(travel) + "mm\n"
else:
self.terminal.text += "axis A already moving or can't travel to negative\n"
def Yd(instance):
global y1, y2
b2, b3, b4, b5, b6, b7, b8 = i.MVP("REL", 1, negtravel)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7,
b8)
x = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
if (y1 == 0) and (y2 > 0):
y1 = 1
y2 = y2 - travel
ser.write(bytearray([1, 138, 0, 0, 0, 0, 0, 2, 141]))
ser.write(x)
Thread(target=wait_until_reached).start()
self.yTravel.text = str(y2)
self.terminal.text += "axis Y descend: " + str(travel) + "mm\n"
else:
self.terminal.text += "axis Y already moving or can't travel to negative\n"
def Xd(instance):
global x1, x2
b2, b3, b4, b5, b6, b7, b8 = i.MVP("REL", 0, negtravel)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7,
b8)
x = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
if (x1 == 0) and (x2 > 0):
x1 = 1
x2 = x2 - travel
ser.write(bytearray([1, 138, 0, 0, 0, 0, 0, 1, 140]))
ser.write(x)
Thread(target=wait_until_reached).start()
self.xTravel.text = str(x2)
self.terminal.text += "axis X descend: " + str(travel) + "mm\n"
else:
self.terminal.text += "axis X already moving or can't travel to negative\n"
def Xa(instance):
global x1, x2
b2, b3, b4, b5, b6, b7, b8 = i.MVP("REL", 0, travel)
b1, b2, b3, b4, b5, b6, b7, b8, b9 = par(1, b2, b3, b4, b5, b6, b7,
b8)
x = bytearray([b1, b2, b3, b4, b5, b6, b7, b8, b9])
x2 = x2 + travel
if (x1 == 0) and (x2 <= 900):
x1 = 1
ser.write(bytearray([1, 138, 0, 0, 0, 0, 0, 1, 140]))
ser.write(x)
Thread(target=wait_until_reached).start()
self.terminal.text += "axis X ascend: " + str(travel) + "mm\n"
self.xTravel.text = str(x2)
else:
self.terminal.text += "axis X already moving or can't travel more\n"