def plotPath( self, path, matTransform ): ''' Plot the path while applying the transformation defined by the matrix [matTransform]. ''' # turn this path into a cubicsuperpath (list of beziers)... d = path.get( 'd' ) if len( simplepath.parsePath( d ) ) == 0: return p = cubicsuperpath.parsePath( d ) # ...and apply the transformation to each point applyTransformToPath( matTransform, p ) # p is now a list of lists of cubic beziers [control pt1, control pt2, endpoint] # where the start-point is the last point in the previous segment. for sp in p: plot_utils.subdivideCubicPath( sp, self.options.smoothness ) nIndex = 0 for csp in sp: if self.bStopped: return self.fX = 2 * float( csp[1][0] ) / self.step_scaling_factor self.fY = 2 * float( csp[1][1] ) / self.step_scaling_factor # store home if self.ptFirst is None: # if we should start at center, then the first line segment should draw from there if self.options.startCentered: self.fPrevX = self.svgWidth / ( self.step_scaling_factor ) self.fPrevY = self.svgHeight / ( self.step_scaling_factor ) self.ptFirst = ( self.fPrevX, self.fPrevY ) else: self.ptFirst = ( self.fX, self.fY ) if self.plotCurrentLayer: if nIndex == 0: if (plot_utils.distance(self.fX - self.fPrevX,self.fY - self.fPrevY) > eggbot_conf.MIN_GAP): # Only raise pen between two points if there is at least a 1 step gap between them. self.penUp() self.virtualPenIsUp = True elif nIndex == 1: self.penDown() self.virtualPenIsUp = False nIndex += 1 if self.plotCurrentLayer: self.plotLineAndTime() self.fPrevX = self.fX self.fPrevY = self.fY
def manualCommand( self ): """Execute commands from the "manual" tab""" if self.options.manualType == "none": return if self.serialPort is None: return if self.options.manualType == "raise-pen": self.ServoSetupWrapper() self.penUp() elif self.options.manualType == "lower-pen": self.ServoSetupWrapper() self.penDown() elif self.options.manualType == "enable-motors": ebb_motion.sendEnableMotors(self.serialPort, 1) # 16X microstepping elif self.options.manualType == "disable-motors": self.sendDisableMotors() elif self.options.manualType == "version-check": strVersion = ebb_serial.query( self.serialPort, 'v\r' ) inkex.errormsg( 'I asked the EBB for its version info, and it replied:\n ' + strVersion ) elif self.options.manualType == "enable-engraver": if ( not self.options.engraving ): inkex.errormsg( gettext.gettext( "The engraver option is disabled. " + \ " Please enable it first from the \"Options\" tab." ) ) else: self.engraverOn() elif self.options.manualType == 'disable-engraver': self.engraverOffManual() #Force engraver off, even if it is not enabled. else: # self.options.manualType is "walk-egg-motor" or "walk-pen-motor": if self.options.manualType == "walk-egg-motor": nDeltaX = self.options.WalkDistance nDeltaY = 0 elif self.options.manualType == "walk-pen-motor": nDeltaY = self.options.WalkDistance nDeltaX = 0 else: return ebb_motion.sendEnableMotors(self.serialPort, 1) # 16X microstepping #Query pen position: 1 up, 0 down (followed by OK) strVersion = ebb_serial.query( self.serialPort, 'QP\r' ) if strVersion[0] == '0': self.fSpeed = self.options.penDownSpeed if strVersion[0] == '1': self.fSpeed = self.options.penUpSpeed if ( self.options.revPenMotor ): nDeltaY = -1 * nDeltaY if ( self.options.revEggMotor ): nDeltaX = -1 * nDeltaX nTime = 10000.00 / self.fSpeed * plot_utils.distance( nDeltaX, nDeltaY ) nTime = int( math.ceil(nTime / 10.0)) strOutput = ','.join( ['SM', str( nTime ), str( nDeltaY ), str( nDeltaX )] ) + '\r' #inkex.errormsg( 'strOutput: ' + strOutput ) ebb_serial.command( self.serialPort, strOutput )
def plotLineAndTime( self ): ''' Send commands out the com port as a line segment (dx, dy) and a time (ms) the segment should take to implement ''' if self.bStopped: return if ( self.fPrevX is None ): return nDeltaX = int( self.fX ) - int( self.fPrevX ) nDeltaY = int( self.fY ) - int( self.fPrevY ) if self.bPenIsUp: self.fSpeed = self.options.penUpSpeed if ( self.options.wraparound ): if ( nDeltaX > self.halfWrapSteps ): while ( nDeltaX > self.halfWrapSteps ): nDeltaX -= self.wrapSteps elif ( nDeltaX < -1 * self.halfWrapSteps ): while ( nDeltaX < -1 * self.halfWrapSteps ): nDeltaX += self.wrapSteps else: self.fSpeed = self.options.penDownSpeed if ( plot_utils.distance( nDeltaX, nDeltaY ) > 0 ): self.nodeCount += 1 if self.resumeMode: if ( self.nodeCount > self.nodeTarget ): self.resumeMode = False if ( not self.virtualPenIsUp ): self.penDown() self.fSpeed = self.options.penDownSpeed nTime = int( math.ceil( 1000 / self.fSpeed * plot_utils.distance( nDeltaX, nDeltaY ) ) ) while ( ( abs( nDeltaX ) > 0 ) or ( abs( nDeltaY ) > 0 ) ): xd = nDeltaX yd = nDeltaY td = nTime if ( td < 1 ): td = 1 # don't allow zero-time moves. if (abs((float(xd) / float(td))) < 0.002): xd = 0 #don't allow too-slow movements of this axis if (abs((float(yd) / float(td))) < 0.002): yd = 0 #don't allow too-slow movements of this axis if ( not self.resumeMode ): if ( self.options.revPenMotor ): yd2 = yd else: yd2 = -yd if ( self.options.revEggMotor ): xd2 = -xd else: xd2 = xd self.svgTotalDeltaX += xd self.svgTotalDeltaY += yd ebb_motion.doXYMove( self.serialPort, xd2, yd2, td ) if (td > 50): time.sleep(float(td - 50)/1000.0) #pause before issuing next command nDeltaX -= xd nDeltaY -= yd nTime -= td strButton = ebb_motion.QueryPRGButton(self.serialPort) #Query if button pressed if strButton[0] == '1': #button pressed self.svgNodeCount = self.nodeCount; inkex.errormsg( 'Plot paused by button press after node number ' + str( self.nodeCount ) + '.' ) inkex.errormsg( 'Use the "resume" feature to continue.' ) #self.penUp() # Should be redundant... self.engraverOff() self.bStopped = True return
def manualCommand( self ): """Execute commands from the "manual" tab""" if self.options.manualType == "none": return if self.serialPort is None: return if self.options.manualType == "raise-pen": self.ServoSetupWrapper() self.penUp() elif self.options.manualType == "lower-pen": self.ServoSetupWrapper() self.penDown() elif self.options.manualType == "enable-motors": ebb_motion.sendEnableMotors(self.serialPort, 1) # 16X microstepping elif self.options.manualType == "disable-motors": self.sendDisableMotors() elif self.options.manualType == "version-check": strVersion = ebb_serial.query( self.serialPort, 'v\r' ) inkex.errormsg( 'I asked the EBB for its version info, and it replied:\n ' + strVersion ) elif self.options.manualType == "enable-engraver": if ( not self.options.engraving ): inkex.errormsg( gettext.gettext( "The engraver option is disabled. " + \ " Please enable it first from the \"Options\" tab." ) ) else: self.engraverOn() elif self.options.manualType == 'disable-engraver': self.engraverOffManual() #Force engraver off, even if it is not enabled. else: # self.options.manualType is "walk-egg-motor" or "walk-pen-motor": if self.options.manualType == "walk-egg-motor": nDeltaX = self.options.WalkDistance nDeltaY = 0 elif self.options.manualType == "walk-pen-motor": nDeltaY = self.options.WalkDistance nDeltaX = 0 else: return ebb_motion.sendEnableMotors(self.serialPort, 1) # 16X microstepping #Query pen position: 1 up, 0 down (followed by OK) strVersion = ebb_serial.query( self.serialPort, 'QP\r' ) if strVersion[0] == '0': self.fSpeed = self.options.penDownSpeed if strVersion[0] == '1': self.fSpeed = self.options.penUpSpeed if ( self.options.revPenMotor ): nDeltaY = -1 * nDeltaY if ( self.options.revEggMotor ): nDeltaX = -1 * nDeltaX nTime = 10000.00 / self.fSpeed * plot_utils.distance( nDeltaX, nDeltaY ) nTime = int( math.ceil(nTime / 10.0)) strOutput = ','.join( ['SM', str( nTime ), str( nDeltaY ), str( nDeltaX )] ) + '\r' #inkex.errormsg( 'strOutput: ' + strOutput ) ebb_serial.command( self.serialPort, strOutput )
def plotLineAndTime( self ):
'''
Send commands out the com port as a line segment (dx, dy) and a time (ms) the segment
should take to implement
'''
if self.bStopped:
return
if ( self.fPrevX is None ):
return
nDeltaX = int( self.fX ) - int( self.fPrevX )
nDeltaY = int( self.fY ) - int( self.fPrevY )
if self.bPenIsUp:
self.fSpeed = self.options.penUpSpeed
if ( self.options.wraparound ):
if ( nDeltaX > self.halfWrapSteps ):
while ( nDeltaX > self.halfWrapSteps ):
nDeltaX -= self.wrapSteps
elif ( nDeltaX < -1 * self.halfWrapSteps ):
while ( nDeltaX < -1 * self.halfWrapSteps ):
nDeltaX += self.wrapSteps
else:
self.fSpeed = self.options.penDownSpeed
if ( plot_utils.distance( nDeltaX, nDeltaY ) > 0 ):
self.nodeCount += 1
if self.resumeMode:
if ( self.nodeCount > self.nodeTarget ):
self.resumeMode = False
if ( not self.virtualPenIsUp ):
self.penDown()
self.fSpeed = self.options.penDownSpeed
nTime = int( math.ceil( 1000 / self.fSpeed * plot_utils.distance( nDeltaX, nDeltaY ) ) )
while ( ( abs( nDeltaX ) > 0 ) or ( abs( nDeltaY ) > 0 ) ):
if ( nTime > 750 ):
xd = int( round( ( 750.0 * nDeltaX ) / nTime ) )
yd = int( round( ( 750.0 * nDeltaY ) / nTime ) )
td = int( 750 )
else:
xd = nDeltaX
yd = nDeltaY
td = nTime
if ( td < 1 ):
td = 1 # don't allow zero-time moves.
if ( not self.resumeMode ):
if ( self.options.revPenMotor ):
yd2 = yd
else:
yd2 = -yd
if ( self.options.revEggMotor ):
xd2 = -xd
else:
xd2 = xd
strOutput = ','.join( ['SM', str( td ), str( yd2 ), str( xd2 )] ) + '\r'
self.svgTotalDeltaX += xd
self.svgTotalDeltaY += yd
ebb_serial.command( self.serialPort, strOutput )
nDeltaX -= xd
nDeltaY -= yd
nTime -= td
#self.doCommand('NI\r') #Increment node counter on EBB
strButton = ebb_motion.QueryPRGButton(self.serialPort) #Query if button pressed
if strButton[0] == '0':
pass #button not pressed
else:
self.svgNodeCount = self.nodeCount;
inkex.errormsg( 'Plot paused by button press after node number ' + str( self.nodeCount ) + '.' )
inkex.errormsg( 'Use the "resume" feature to continue.' )
#self.penUp() # Should be redundant...
self.engraverOff()
self.bStopped = True
return
def plotLineAndTime( self ):
'''
Send commands out the com port as a line segment (dx, dy) and a time (ms) the segment
should take to implement
'''
if self.bStopped:
return
if ( self.fPrevX is None ):
return
nDeltaX = int( self.fX ) - int( self.fPrevX )
nDeltaY = int( self.fY ) - int( self.fPrevY )
if self.bPenIsUp:
self.fSpeed = self.options.penUpSpeed
if ( self.options.wraparound ):
if ( nDeltaX > self.halfWrapSteps ):
while ( nDeltaX > self.halfWrapSteps ):
nDeltaX -= self.wrapSteps
elif ( nDeltaX < -1 * self.halfWrapSteps ):
while ( nDeltaX < -1 * self.halfWrapSteps ):
nDeltaX += self.wrapSteps
else:
self.fSpeed = self.options.penDownSpeed
if ( plot_utils.distance( nDeltaX, nDeltaY ) > 0 ):
self.nodeCount += 1
if self.resumeMode:
if ( self.nodeCount > self.nodeTarget ):
self.resumeMode = False
if ( not self.virtualPenIsUp ):
self.penDown()
self.fSpeed = self.options.penDownSpeed
nTime = int( math.ceil( 1000 / self.fSpeed * plot_utils.distance( nDeltaX, nDeltaY ) ) )
while ( ( abs( nDeltaX ) > 0 ) or ( abs( nDeltaY ) > 0 ) ):
if ( nTime > 750 ):
xd = int( round( ( 750.0 * nDeltaX ) / nTime ) )
yd = int( round( ( 750.0 * nDeltaY ) / nTime ) )
td = int( 750 )
else:
xd = nDeltaX
yd = nDeltaY
td = nTime
if ( td < 1 ):
td = 1 # don't allow zero-time moves.
if ( not self.resumeMode ):
if ( self.options.revPenMotor ):
yd2 = yd
else:
yd2 = -yd
if ( self.options.revEggMotor ):
xd2 = -xd
else:
xd2 = xd
strOutput = ','.join( ['SM', str( td ), str( yd2 ), str( xd2 )] ) + '\r'
self.svgTotalDeltaX += xd
self.svgTotalDeltaY += yd
ebb_serial.command( self.serialPort, strOutput )
nDeltaX -= xd
nDeltaY -= yd
nTime -= td
#self.doCommand('NI\r') #Increment node counter on EBB
strButton = ebb_motion.QueryPRGButton(self.serialPort) #Query if button pressed
if strButton[0] == '0':
pass #button not pressed
else:
self.svgNodeCount = self.nodeCount;
inkex.errormsg( 'Plot paused by button press after node number ' + str( self.nodeCount ) + '.' )
inkex.errormsg( 'Use the "resume" feature to continue.' )
#self.penUp() # Should be redundant...
self.engraverOff()
self.bStopped = True
return
