class BrushCNC():
def __init__(self):
self._stepper_x = StepperMotor(defines.STEPPER_X_1,
defines.STEPPER_X_2,
defines.STEPPER_X_3,
defines.STEPPER_X_4)
self._stepper_y_left = StepperMotor(defines.STEPPER_Y_LEFT_1,
defines.STEPPER_Y_LEFT_2,
defines.STEPPER_Y_LEFT_3,
defines.STEPPER_Y_LEFT_4)
self._stepper_y_right = StepperMotor(defines.STEPPER_Y_RIGHT_1,
defines.STEPPER_Y_RIGHT_2,
defines.STEPPER_Y_RIGHT_3,
defines.STEPPER_Y_RIGHT_4)
self._stepper_z = StepperMotor(defines.STEPPER_Z_1,
defines.STEPPER_Z_2,
defines.STEPPER_Z_3,
defines.STEPPER_Z_4)
self._switch_reset_x = Switch(defines.SWITCH_RESET_X)
self._switch_reset_y = Switch(defines.SWITCH_RESET_Y)
self._switch_reset_z = Switch(defines.SWITCH_RESET_Z)
def zeroing(self):
"""
Uses the limit switches for each of the motors to bring them all back to a zeroed position
"""
x_zeroed, y_zeroed, z_zeroed = False, False, False
self._stepper_x.set_stepper(defines.STEPPER_X_MAX_HZ / 2,
-defines.BOARD_X_LENGTH)
self._stepper_y_left.set_stepper(defines.STEPPER_Y_MAX_HZ / 2,
-defines.BOARD_Y_LENGTH)
self._stepper_y_right.set_stepper(defines.STEPPER_Y_MAX_HZ / 2,
-defines.BOARD_Y_LENGTH)
self._stepper_z.set_stepper(defines.STEPPER_Z_MAX_HZ / 2,
-defines.BOARD_Z_LENGTH)
while x_zeroed is False or y_zeroed is False or z_zeroed is False:
if x_zeroed is False and self._switch_reset_x.get_state() is True:
self._stepper_x.set_stepper(0, 0)
x_zeroed = True
if y_zeroed is False and self._switch_reset_y.get_state() is True:
self._stepper_y_left.set_stepper(0, 0)
self._stepper_y_right.set_stepper(0, 0)
y_zeroed = True
if z_zeroed is False and self._switch_reset_z.get_state() is True:
self._stepper_z.set_stepper(0, 0)
z_zeroed = True
