def main():
#manual_control()
kinematics = LinearDeltaKinematics(model)
comms = DeltaComms()
comms.microstep = 8
comms.delay = 0.00001
pygame.init()
size = width,height = 800,640
screen = pygame.display.set_mode(size)
current = [0,0,0]
target = [0,0,0]
# font = pygame.font.Font(None, 36)
# text = font.render("Click and Drag in the Black Square", 1, (10, 10, 10))
# textpos = text.get_rect()
# textpos.centerx = background.get_rect().centerx
# background.blit(text, textpos)
while 1:
for event in pygame.event.get():
if event.type == pygame.QUIT:
sys.exit()
if pygame.mouse.get_pressed()[0]:
mouse = pygame.mouse.get_pos()
target[0] = float(mouse[0]-width/2)/10.0
target[1] = float(mouse[1]-height/2)/10.0
if pygame.mouse.get_pressed()[2]:
print "changing z"
if target[2] == 0:
target[2] = 10
elif target[2] == 10:
target[2] = 0
print target[2]
steps = kinematics.zzz_optimal_motion_creator(current,target)
comms.sendCommands(steps)
current = list(target)
def manual_control():
kinematics = LinearDeltaKinematics(model)
comms = DeltaComms()
comms.microstep = 8
comms.delay = 0.0001
start =(0,0,0)
while True:
command = raw_input()
x,y,z = command.split()
stop = (int(x),int(y),int(z))
# steps = kinematics.zzz_optimal_motion_creator(start,stop)
zzz = kinematics.xyz_to_zzz(stop)
z0_steps =[]
z1_steps =[]
z2_steps =[]
if zzz[0] <0:
z0_steps = [(-1,0,0)]*abs(int(zzz[0]/kinematics.model["z_stepsize"]))
if zzz[0] >0:
z0_steps = [(1,0,0)]*abs(int(zzz[0]/kinematics.model["z_stepsize"]))
if zzz[1] <0:
z1_steps = [(-1,0,0)]**bs(int(zzz[1]/kinematics.model["z_stepsize"]))
if zzz[1] >0:
z1_steps = [(1,0,0)]*abs(int(zzz[1]/kinematics.model["z_stepsize"]))
if zzz[2] <0:
z2_steps = [(-1,0,0)]*abs(int(zzz[2]/kinematics.model["z_stepsize"]))
if zzz[2] >0:
z2_steps = [(1,0,0)]*abs(int(zzz[2]/kinematics.model["z_stepsize"]))
comms.sendCommands(z0_steps)
comms.sendCommands(z1_steps)
comms.sendCommands(z2_steps)
quit()
def main():
#manual_control()
kinematics = LinearDeltaKinematics(model)
comms = DeltaComms()
comms.microstep = 8
comms.delay = 0.0001
greader = GCodeReader()
#xyz = greader.processfile("lenna.ngc")
#xyz = greader.processfile("cal3.ngc")
xyz = greader.processfile("maker.ngc")
#xyz = greader.processfile("test_file.ngc")
# xyz = [(0,0,0),\
# (10,10,0),\
# (10,-10,0),\
# (-10,-10,0),\
# (-10,10,0),\
# (10,10,0),\
# (0,0,0)\
# ]
#switch the z axis
for i in range(len(xyz)):
xyz[i] = (xyz[i][0],xyz[i][1],xyz[i][2])
delays = [0.005,0.001,0.0005,0.0001]
print xyz
# quit()
start =xyz[0]
stop = (0,0,0)
for index in range(len(xyz)-1):
stop = xyz[index+1]
steps = kinematics.zzz_optimal_motion_creator(start,stop)
print str(start) + " "+str(stop)
comms.sendCommands(steps)
start = stop
stop = (0,0,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
quit()
for delay in delays:
comms.delay = delay
start = (0,0,-60)
stop = (0,0,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (0,0,0)
stop = (0,0,-10)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (0,0,-10)
stop = (-10,10,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (-10,10,0)
stop = (10,10,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (10,10,0)
stop = (10,-10,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (10,-10,0)
stop = (-10,-10,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (-10,-10,0)
stop = (-10,10,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (-10,10,0)
stop = (0,0,-10)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
start = (0,0,-10)
stop = (0,0,-60)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
comms.sendCommands(steps)
quit()
def main():
cv.NamedWindow("w1", cv.CV_WINDOW_AUTOSIZE)
pathgen = PathGen()
camera_index =0
capture = cv.CaptureFromCAM(camera_index)
kinematics = LinearDeltaKinematics(model)
comms = DeltaComms()
comms.microstep = 8
comms.delay = 0.0002
while True:
#global capture #declare as globals since we are assigning to them now
#global camera_index
in_img = cv.QueryFrame(capture)
#in_img = cv.LoadImageM("moon.jpg")
#in_img = cv.LoadImageM("lenna.bmp")
#print in_img.width
grey_img = cv.CreateImage(cv.GetSize(in_img), cv.IPL_DEPTH_8U, 1)
cv.CvtColor(in_img,grey_img,cv.CV_RGB2GRAY)
blur_img = cv.CreateImage(cv.GetSize(in_img), cv.IPL_DEPTH_8U, 1)
cv.Smooth(grey_img,blur_img)
result_img = cv.CreateImage(cv.GetSize(in_img), cv.IPL_DEPTH_8U, 1)
cv.Canny(blur_img,result_img,100,220)
cv.ShowImage("w1", result_img)
c = cv.WaitKey(10)
if(c==32): #the code for space
print "Capturing"
path = pathgen.generatePath(result_img)
for i in range(len(path)):
x,y,z = path[i]
#condition the points
path[i] = ((float(x)-160)/3.0,(float(y))/3.0,float(z))
print path
# quit()
start =(0,0,0)
print "start"
print start
#quit()
stop = path[0]
test_img = cv.CreateImage(cv.GetSize(in_img), cv.IPL_DEPTH_8U, 1)
cv.SetZero(test_img)
for index in range(len(path)-1):
x,y,z = path[index+1]
t = (int(float(x)+160.0/3),int(float(y)),-int(z))
cv.Set2D(test_img,t[1],t[0],(255,0,0))
cv.ShowImage("w1",test_img)
cv.WaitKey(20)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
print str(start) + " "+str(stop)
print "---->> " + str(index)
comms.sendCommands(steps)
start = stop
stop = path[index+1]
start = stop
stop = (0,0,0)
steps = kinematics.zzz_optimal_motion_creator(start,stop)
print str(start) + " "+str(stop)
comms.sendCommands(steps)
while True:
pass #noodle away
#quit()
if (c == 113): # the code for "q"
quit()
