class Replicape:
''' Init '''
def __init__(self):
# Init the IO library
io.bbio_init()
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors
self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A?
self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y")
self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z")
self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1")
self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
self.steppers["X"].setCurrentValue(1.0) # 2A
self.steppers["X"].setEnabled()
self.steppers["X"].set_steps_pr_mm(6.105)
self.steppers["X"].set_microstepping(2)
self.steppers["Y"].setCurrentValue(1.0) # 2A
self.steppers["Y"].setEnabled()
self.steppers["Y"].set_steps_pr_mm(5.95)
self.steppers["Y"].set_microstepping(2)
self.steppers["Z"].setCurrentValue(1.0) # 2A
self.steppers["Z"].setEnabled()
self.steppers["Z"].set_steps_pr_mm(155)
self.steppers["Z"].set_microstepping(2)
self.steppers["E"].setCurrentValue(1.0) # 2A
self.steppers["E"].setEnabled()
self.steppers["E"].set_steps_pr_mm(5.0)
self.steppers["E"].set_microstepping(2)
# init the 3 thermistors
self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD")
self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1
self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1
self.mosfet_ext2 = Mosfet(io.PWM2A) #
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1)
self.ext1.setPvalue(0.5)
self.ext1.setDvalue(0.1)
self.ext1.setIvalue(0.001)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(3)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
# Make a queue of commands
self.commands = Queue.Queue()
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Get all options
self.options = Options()
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
self.acceleration = 300.0/1000.0
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
logging.debug("Debug prints to console")
''' When a new gcode comes in, excute it '''
def loop(self):
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
self.usb.send_message(gcode.getAnswer())
self.commands.task_done()
except KeyboardInterrupt:
print "Caught signal, exiting"
return
finally:
self.ext1.disable()
self.hbp.disable()
self.usb.close()
self.path_planner.exit()
logging.debug("Done")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
feed_rate = float(g.getValueByLetter("F"))
g.removeTokenByLetter("F")
else: # If no feed rate is set in the command, use the default.
feed_rate = self.feed_rate
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, feed_rate, self.movement) # Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE") # Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G29":
print self.current_pos
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
if g.numTokens() == 0:
g.setTokens(["X0", "Y0", "Z0", "E0"]) # If no token is present, do this for all
for i in range(g.numTokens()):
axis = g.tokenLetter(i)
val = float(g.tokenValue(i))
self.path_planner.set_pos(axis, val)
elif g.code() == "M17": # Enable all steppers
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
answer += " B:"+str(int(self.hbp.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(100)
fan.setValue(float(g.getValueByLetter("S")))
else:
self.fan_1.setPWMFrequency(100)
self.fan_1.setValue(float(g.tokenValue(0)))
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
else:
print "Unknown command: "+g.message
