def main():
# bring GPIO to a clean state
try:
GPIO.cleanup_existing()
GPIO.setmode(GPIO.BOARD)
except AttributeError:
GPIO.setmode(GPIO.BCM)
# we use GPIO Wrapper, object like interface to real GPIO Module
ser = gpio(7, GPIO)
ser.setup(GPIO.OUT)
rclk = gpio(8, GPIO)
rclk.setup(GPIO.OUT)
srclk = gpio(25, GPIO)
srclk.setup(GPIO.OUT)
# in this example a shift register will be used
shift_register = ShiftRegister(ser, rclk, srclk, 16, autocommit=True)
# and we use a fake GPIO Object to use ShiftRegister instead
# Motor A left upper corner
m_a_dir = ShiftGPIOWrapper(shift_register, 0)
m_a_step = ShiftGPIOWrapper(shift_register, 1)
m_a_enable = ShiftGPIOWrapper(shift_register, 2)
# motor B, should be reversed to A
m_b_dir = ShiftGPIOWrapper(shift_register, 3)
m_b_step = ShiftGPIOWrapper(shift_register, 4)
m_b_enable = ShiftGPIOWrapper(shift_register, 5)
# Motor C Penholder
m_c_dir = ShiftGPIOWrapper(shift_register, 6)
m_c_step = ShiftGPIOWrapper(shift_register, 7)
m_c_enable = ShiftGPIOWrapper(shift_register, 8)
try:
logging.info("Initialize GPIO Modes")
# build our controller
logging.info("Creating Controller Object")
motor_x = A5988DriverMotor(
enable_pin=m_a_enable,
dir_pin=m_a_dir,
step_pin=m_a_step,
max_position=9999,
min_position=-9999,
delay=0.05)
motor_y = A5988DriverMotor(
enable_pin=m_b_enable,
dir_pin=m_b_dir,
step_pin=m_b_step,
max_position=9999,
min_position=-9999,
delay=0.05)
motor_z = A5988DriverMotor(
enable_pin=m_c_enable,
dir_pin=m_c_dir,
step_pin=m_c_step,
max_position=9999,
min_position=-9999,
delay=0.05)
# one turn is 8 mm * pi in 48 steps, motor and screw specifications
controller = Controller(resolution=8 * math.pi / 48, default_speed=1.0, autorun=False)
controller.add_motor("X", motor_x)
controller.add_motor("Y", motor_y)
controller.add_motor("Z", motor_z)
controller.add_spindle(BaseSpindle()) # generic spindle object
transformer = PlotterTransformer(width=830, scale=15.0, ca_zero=320, h_zero=140) # transformer for plotter usage
controller.add_transformer(transformer) # transformer for plotter usage
# create parser
logging.info("Creating Parser Object")
parser = Parser(filename=FILENAME, autorun=False)
parser.set_controller(controller)
# create gui
logging.info("Creating GUI")
# gui = PlotterSimulator(automatic=True)
gui = GuiConsole()
# connect gui with parser and controller
gui.set_controller(controller)
gui.set_parser(parser)
controller.set_gui_cb(gui.controller_cb)
parser.set_gui_cb(gui.parser_cb)
transformer.set_gui_cb(gui.transformer_cb)
# start
logging.info("Please move pen to left top corner, the origin")
# key = raw_input("Press any KEY when done")
logging.error("start parsing")
parser.read()
logging.error("parsing done, calling controller methods")
parser.run()
logging.error("controller calculations done, calling physical world")
controller.run()
gui.quit()
except KeyboardInterrupt as exc:
logging.info(exc)
except StandardError as exc:
logging.exception(exc)
shift_register.clear()
GPIO.cleanup()
def main():
# cleanup state and set pin naming mode
try:
# for GpioObject
GPIO.cleanup_existing()
GPIO.setmode(GPIO.BOARD)
except AttributeError:
# for RPi.GPIO
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
print type(GPIO)
print GPIO.OUT
# define necessary pins for shift register
ser = gpio(7, GPIO) # labeled S
ser.setup(GPIO.OUT)
rclk = gpio(8, GPIO) # labeled R
rclk.setup(GPIO.OUT)
srclk = gpio(25, GPIO) # labeled SR
srclk.setup(GPIO.OUT)
# and shift register, 16 bits wide
shift_register = ShiftRegister(ser, rclk, srclk, 16, autocommit=False)
# use some virtual bits in shift register
# act like GPIO Pins with this Wrapper Class
# driver 1 dir and step
d_1_dir_pin = ShiftGPIOWrapper(shift_register, 0)
d_1_step_pin = ShiftGPIOWrapper(shift_register, 1)
d_1_enable_pin = ShiftGPIOWrapper(shift_register, 2)
# driver 2 dir and step
d_2_dir_pin = ShiftGPIOWrapper(shift_register, 3)
d_2_step_pin = ShiftGPIOWrapper(shift_register, 4)
d_2_enable_pin = ShiftGPIOWrapper(shift_register, 5)
# driver 3 dir and step
d_3_dir_pin = ShiftGPIOWrapper(shift_register, 6)
d_3_step_pin = ShiftGPIOWrapper(shift_register, 7)
d_3_enable_pin = ShiftGPIOWrapper(shift_register, 8)
steps = 0
# ENABLE PIN is active LOW
d1.enable_pin.output(0)
d2.enable_pin.output(0)
d3.enable_pin.output(0)
try:
d_1_dir_pin.output(DIRECTION)
d_2_dir_pin.output(DIRECTION)
d_3_dir_pin.output(DIRECTION)
shift_register.commit()
start = time.time()
while (start + DURATION_S) >= time.time():
d_1_step_pin.output(True)
d_2_step_pin.output(True)
d_3_step_pin.output(True)
shift_register.commit()
# time.sleep(0.0001)
d_1_step_pin.output(False)
d_2_step_pin.output(False)
d_3_step_pin.output(False)
shift_register.commit()
# time.sleep(STEP_INTERVAL)
steps += 1
except KeyboardInterrupt:
pass
print "%d steps done" % steps
shift_register.clear()
GPIO.cleanup()
def main():
# bring GPIO to a clean state
try:
GPIO.cleanup_existing()
GPIO.setmode(GPIO.BOARD)
except AttributeError:
GPIO.setmode(GPIO.BCM)
# we use GPIO Wrapper, object like interface to real GPIO Module
ser = gpio(7, GPIO)
ser.setup(GPIO.OUT)
rclk = gpio(8, GPIO)
rclk.setup(GPIO.OUT)
srclk = gpio(25, GPIO)
srclk.setup(GPIO.OUT)
# in this example a shift register will be used
shift_register = ShiftRegister(ser, rclk, srclk, 16, autocommit=True)
# and we use a fake GPIO Object to use ShiftRegister instead
# Motor A left upper corner
m_a_dir = ShiftGPIOWrapper(shift_register, 0)
m_a_step = ShiftGPIOWrapper(shift_register, 1)
m_a_enable = ShiftGPIOWrapper(shift_register, 2)
# motor B, should be reversed to A
m_b_dir = ShiftGPIOWrapper(shift_register, 3)
m_b_step = ShiftGPIOWrapper(shift_register, 4)
m_b_enable = ShiftGPIOWrapper(shift_register, 5)
# Motor C Penholder
m_c_dir = ShiftGPIOWrapper(shift_register, 6)
m_c_step = ShiftGPIOWrapper(shift_register, 7)
m_c_enable = ShiftGPIOWrapper(shift_register, 8)
try:
logging.info("Initialize GPIO Modes")
# build our controller
logging.info("Creating Controller Object")
motor_x = A5988DriverMotor(enable_pin=m_a_enable,
dir_pin=m_a_dir,
step_pin=m_a_step,
max_position=9999,
min_position=-9999,
delay=0.05)
motor_y = A5988DriverMotor(enable_pin=m_b_enable,
dir_pin=m_b_dir,
step_pin=m_b_step,
max_position=9999,
min_position=-9999,
delay=0.05)
motor_z = A5988DriverMotor(enable_pin=m_c_enable,
dir_pin=m_c_dir,
step_pin=m_c_step,
max_position=9999,
min_position=-9999,
delay=0.05)
# one turn is 8 mm * pi in 48 steps, motor and screw specifications
controller = Controller(resolution=8 * math.pi / 48,
default_speed=1.0,
autorun=False)
controller.add_motor("X", motor_x)
controller.add_motor("Y", motor_y)
controller.add_motor("Z", motor_z)
controller.add_spindle(BaseSpindle()) # generic spindle object
transformer = PlotterTransformer(
width=830, scale=15.0, ca_zero=320,
h_zero=140) # transformer for plotter usage
controller.add_transformer(
transformer) # transformer for plotter usage
# create parser
logging.info("Creating Parser Object")
parser = Parser(filename=FILENAME, autorun=False)
parser.set_controller(controller)
# create gui
logging.info("Creating GUI")
# gui = PlotterSimulator(automatic=True)
gui = GuiConsole()
# connect gui with parser and controller
gui.set_controller(controller)
gui.set_parser(parser)
controller.set_gui_cb(gui.controller_cb)
parser.set_gui_cb(gui.parser_cb)
transformer.set_gui_cb(gui.transformer_cb)
# start
logging.info("Please move pen to left top corner, the origin")
# key = raw_input("Press any KEY when done")
logging.error("start parsing")
parser.read()
logging.error("parsing done, calling controller methods")
parser.run()
logging.error("controller calculations done, calling physical world")
controller.run()
gui.quit()
except KeyboardInterrupt as exc:
logging.info(exc)
except StandardError as exc:
logging.exception(exc)
shift_register.clear()
GPIO.cleanup()
def main():
# cleanup state and set pin naming mode
try:
# for GpioObject
GPIO.cleanup_existing()
GPIO.setmode(GPIO.BOARD)
except AttributeError:
# for RPi.GPIO
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
print type(GPIO)
print GPIO.OUT
# define necessary pins for shift register
ser = gpio(7, GPIO) # labeled S
ser.setup(GPIO.OUT)
rclk = gpio(8, GPIO) # labeled R
rclk.setup(GPIO.OUT)
srclk = gpio(25, GPIO) # labeled SR
srclk.setup(GPIO.OUT)
# and shift register, 16 bits wide
shift_register = ShiftRegister(ser, rclk, srclk, 16, autocommit=False)
# use some virtual bits in shift register
# act like GPIO Pins with this Wrapper Class
# driver 1 dir and step
d_1_dir_pin = ShiftGPIOWrapper(shift_register, 0)
d_1_step_pin = ShiftGPIOWrapper(shift_register, 1)
d_1_enable_pin = ShiftGPIOWrapper(shift_register, 2)
# driver 2 dir and step
d_2_dir_pin = ShiftGPIOWrapper(shift_register, 3)
d_2_step_pin = ShiftGPIOWrapper(shift_register, 4)
d_2_enable_pin = ShiftGPIOWrapper(shift_register, 5)
# driver 3 dir and step
d_3_dir_pin = ShiftGPIOWrapper(shift_register, 6)
d_3_step_pin = ShiftGPIOWrapper(shift_register, 7)
d_3_enable_pin = ShiftGPIOWrapper(shift_register, 8)
steps = 0
# ENABLE PIN is active LOW
d1.enable_pin.output(0)
d2.enable_pin.output(0)
d3.enable_pin.output(0)
try:
d_1_dir_pin.output(DIRECTION)
d_2_dir_pin.output(DIRECTION)
d_3_dir_pin.output(DIRECTION)
shift_register.commit()
start = time.time()
while (start + DURATION_S) >= time.time():
d_1_step_pin.output(True)
d_2_step_pin.output(True)
d_3_step_pin.output(True)
shift_register.commit()
# time.sleep(0.0001)
d_1_step_pin.output(False)
d_2_step_pin.output(False)
d_3_step_pin.output(False)
shift_register.commit()
# time.sleep(STEP_INTERVAL)
steps += 1
except KeyboardInterrupt:
pass
print "%d steps done" % steps
shift_register.clear()
GPIO.cleanup()
def main():
if len(sys.argv) == 1:
sys.argv.append("examples/tiroler_adler.ngc")
# STEP 1 - GPIO Initialization
# bring GPIO to a clean state
try:
GPIO.cleanup_existing()
GPIO.setmode(GPIO.BOARD)
except AttributeError:
pass
# define GPIO Pins to use
enable_pin = gpio(23, GPIO)
enable_pin.setup(GPIO.OUT)
laser_pin = gpio(14, GPIO)
laser_pin.setup(GPIO.OUT)
m_x_step = gpio(4, GPIO)
m_x_step.setup(GPIO.OUT)
m_x_dir = gpio(2, GPIO)
m_x_dir.setup(GPIO.OUT)
m_x_enable = gpio(27, GPIO)
m_x_enable.setup(GPIO.OUT)
m_y_step = gpio(22, GPIO)
m_y_step.setup(GPIO.OUT)
m_y_dir = gpio(24, GPIO)
m_y_dir.setup(GPIO.OUT)
m_y_enable = gpio(25, GPIO)
m_y_enable.setup(GPIO.OUT)
m_b_b1 = gpio(7, GPIO)
m_b_b1.setup(GPIO.OUT)
m_b_b2 = gpio(8, GPIO)
m_b_b2.setup(GPIO.OUT)
logging.info("Initialize GPIO")
# enable pin for L293D Chip
enable_pin.output(1)
# laser power off
laser_pin.output(0)
# STEP 2 - create Objects and connect them
# build our controller
logging.info("Creating Controller Object")
controller = Controller(resolution=512/36, default_speed=1.0, autorun=False)
# step_pin, dir_pin, enable_pin, int max_position, int min_position, double delay, int sos_exception=False
controller.add_motor("X", StepDirMotor(m_x_step, m_x_dir, m_x_enable, max_position=512, min_position=0, delay=0.002))
controller.add_motor("Y", StepDirMotor(m_y_step, m_y_dir, m_y_enable, max_position=512, min_position=0, delay=0.002))
controller.add_motor("Z", LaserMotor(laser_pin=laser_pin, min_position=-10000, max_position=10000, delay=0.00))
controller.add_spindle(BaseSpindle())
controller.add_transformer(Transformer())
# create parser
logging.info("Creating Parser Object")
parser = Parser(filename=sys.argv[1], autorun=False)
parser.set_controller(controller)
# create gui
logging.info("Creating GUI")
# gui = LaserSimulator(automatic=True, zoom=10.0, controller=controller, parser=parser)
gui = GuiConsole()
controller.set_gui_cb(gui.controller_cb)
parser.set_gui_cb(gui.parser_cb)
# start
logging.info("Please move stepper motors to origin (0, 0, 0)")
#key = raw_input("Press any KEY when done")
# STEP 3 - run
# this is usually done from
try:
parser.read()
#key = raw_input("Parsing done, press Return to call controller")
parser.run()
#key = raw_input("Controller calculations done, press Return to move")
controller.run()
key = raw_input("Controller calculations done, press Return to move")
except ControllerExit as exc:
logging.info(exc)
except Exception as exc:
logging.exception(exc)
except KeyboardInterrupt as exc:
logging.exception(exc)
# STEP 4 - shutdown
# inidcate gui to quit
gui.stop_flag = True
# cleanup gpio
GPIO.cleanup()
