def activate(self): if self.driver is None: self.driver = DrawDriver(self._getBaseAngle()) if self.penPos is self.PEN_DOWN: self.driver.penDown() else: self.driver.penUp() time.sleep(self.pendelay)
def __init__(self,radiusA=13, radiusB=10.5, stepsPerRev=512,initialA=0,initialB=131,maxB=250,stepdelay=0.05,pendelay=0.2,dotmode=False): self.rA = radiusA self.rB = radiusB self.steps = stepsPerRev self.initialA = initialA self.initialB = initialB self.maxB = 250 self.a = initialA self.b = initialB self.delay = stepdelay self.pendelay = pendelay self.penPos = self.PEN_UP self.bDelay = 0 self.bDelayQueue = [0]*self.bDelay self.dotmode = dotmode self.driver = DrawDriver(self._getBaseAngle()) self.driver.penUp()
class DrawInterpreter(object): AXIS_A = 'a' AXIS_B = 'b' PEN_UP = 0 PEN_DOWN = 1 def __init__(self,radiusA=13, radiusB=10.5, stepsPerRev=512,initialA=0,initialB=131,maxB=250,stepdelay=0.05,pendelay=0.2,dotmode=False): self.rA = radiusA self.rB = radiusB self.steps = stepsPerRev self.initialA = initialA self.initialB = initialB self.maxB = 250 self.a = initialA self.b = initialB self.delay = stepdelay self.pendelay = pendelay self.penPos = self.PEN_UP self.bDelay = 0 self.bDelayQueue = [0]*self.bDelay self.dotmode = dotmode self.driver = DrawDriver(self._getBaseAngle()) self.driver.penUp() def do(self, commands): cmdseq = drawGrammar(commands).cmdseq() for cmd in cmdseq: act = cmd['action'] if act=='M': self._move(cmd['a'],cmd['b']) elif act == 'Pd': self._penDown() elif act == 'Pu': self._penUp() elif act == 'Pr': self._penUp() elif act == 'A': self._advance(cmd['path']) elif act == 'S': self._sweep(cmd['axis'],cmd['sign'],cmd['length']) elif act == 'R': self.reset() def _getBaseAngle(self): return int(round(165-5*math.sin(2*math.pi*(self.a+self.b)/self.steps))) def _penUp(self): if self.penPos is self.PEN_UP: return self.driver.penUp() self.penPos=self.PEN_UP time.sleep(self.pendelay) def _penDown(self): if self.penPos is self.PEN_DOWN: return self.driver.penDown() self.penPos=self.PEN_DOWN time.sleep(self.pendelay) def _move(self,targetA,targetB): if self.a-targetA>self.steps/2: self.a-=self.steps if self.a-targetA<-self.steps/2: self.a+=self.steps if self.b-targetB>self.steps/2: self.b-=self.steps if self.b-targetB<-self.steps/2: self.b+=self.steps while (self.a!=targetA or self.b!=targetB): da=0 db=0 if self.a<targetA: da=1 elif self.a>targetA: da=-1 if self.b<targetB: db=1 elif self.b>targetB: db=-1 self._delta(da,db) def _sweep(self,axis,sign,length): for x in xrange(0,length): if axis==self.AXIS_A: self._delta(sign,0) else: self._delta(0,sign) def _advance(self,sequence): for action in sequence: self._delta(action['da'], action['db']) def _delta(self, da, db): self.a += da self.b += db if self.b > self.maxB: db = 0 if self.dotmode and self.penPos is self.PEN_DOWN: self.driver.penUp() time.sleep(self.pendelay) self._delayAdv(-da,db) time.sleep(self.delay) self.driver.penDown() time.sleep(self.pendelay) else: self._delayAdv(-da,db) time.sleep(self.delay) self.driver.setServoBaseAngle(self._getBaseAngle()) def _delayAdv(self,da,db): self.bDelayQueue += [db] ndb = self.bDelayQueue.pop( 0 ) self.driver.advance(da,ndb) def reset(self): self._penUp() self._move(self.initialA,self.initialB) pass def activate(self): if self.driver is None: self.driver = DrawDriver(self._getBaseAngle()) if self.penPos is self.PEN_DOWN: self.driver.penDown() else: self.driver.penUp() time.sleep(self.pendelay) def deactivate(self): if self.driver is not None: self.driver.cleanup() self.driver=None def cleanup(self): self.deactivate() def __del__(self): self.deactivate()
