def initInterfaces(self):
if self.providedInterface:
self.fabnet = self.providedInterface # providedInterface is defined in the virtualMachine class.
else:
self.fabnet = interfaces.gestaltInterface(
"FABNET", interfaces.serialInterface(baudRate=115200, interfaceType="ftdi", portName="/dev/ttyUSB0")
)
def initInterfaces(self):
if self.providedInterface:
self.fabnet = self.providedInterface #providedInterface is defined in the virtualMachine class.
else:
self.fabnet = interfaces.gestaltInterface(
'FABNET',
interfaces.serialInterface(baudRate=115200,
interfaceType='ftdi',
portName='/dev/ttyUSB0'))
def initInterfaces(self):
if self.providedInterface:
self.fabnet = self.providedInterface #providedInterface is defined in the virtualMachine class.
else:
self.fabnet = interfaces.gestaltInterface(
'FABNET',
interfaces.serialInterface(baudRate=self.baudRate,
interfaceType=self.interfaceType,
portName=self.portName))
def __init__(self):
self.fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = '/dev/tty.usbserial-FTVG67VT'))
self.xAxis = axis(nodes.networkedGestaltNode('X Axis', self.fabnet, filename = '086-005a.py'))
self.yAxis = axis(nodes.networkedGestaltNode('Y Axis', self.fabnet, filename = '086-005a.py'))
self.zAxis = axis(nodes.networkedGestaltNode('Z Axis', self.fabnet, filename = '086-005a.py'))
self.motorCurrent = 1.0 #amps
self.motorsInitialized = False #gets set to true once motors have been run once.
self.machinePosition = [0.0, 0.0, 0.0]
def __init__(self):
self.fabnet = interfaces.gestaltInterface(
'FABNET',
interfaces.serialInterface(baudRate=115200,
interfaceType='ftdi',
portName='/dev/tty.usbserial-FTVG67VT'))
self.xAxis = axis(
nodes.networkedGestaltNode('X Axis',
self.fabnet,
filename='086-005a.py'))
self.yAxis = axis(
nodes.networkedGestaltNode('Y Axis',
self.fabnet,
filename='086-005a.py'))
self.zAxis = axis(
nodes.networkedGestaltNode('Z Axis',
self.fabnet,
filename='086-005a.py'))
self.motorCurrent = 1.0 #amps
self.motorsInitialized = False #gets set to true once motors have been run once.
self.machinePosition = [0.0, 0.0, 0.0]
def initInterfaces(self):
if self.providedInterface: self.fabnet = self.providedInterface #providedInterface is defined in the virtualMachine class.
else: self.fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = self.PORT))
def initInterfaces(self):
if self.providedInterface:
self.fabnet = self.providedInterface #providedInterface is defined in the virtualMachine class.
else:
self.fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = self.baudRate, interfaceType = self.interfaceType, portName = self.portName))
return self.fabnet
from gestalt.Nodes import printrboard
from gestalt import nodes
from gestalt.Nodes import dummyNode
from gestalt import interfaces
#myPrintrboard = nodes.soloIndependentNode(name = 'myPrintrboard', module = printrboard)
#gsArduino = nodes.soloGestaltNode(name = 'gsArduino1')
myInterface = interfaces.gestaltInterface('myInterface', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = '/dev/tty.usbserial-FTVG67VT'))
myFabUnit = nodes.networkedGestaltNode('myFabUnit', myInterface, module = dummyNode)
#gsArduino = nodes.soloGestaltNode(name = 'gsArduino', interface = interfaces.serialInterface(baudRate = 76800, interfaceType = 'lufa',
# portName = "/dev/tty.usbmodemfa131"), module = dummyNode)
#gsArduino.identifyRequest()
#print gsArduino.urlRequest()
from gestalt.Nodes import printrboard
from gestalt import nodes
from gestalt.Nodes import dummyNode
from gestalt import interfaces
# myPrintrboard = nodes.soloIndependentNode(name = 'myPrintrboard', module = printrboard)
# gsArduino = nodes.soloGestaltNode(name = 'gsArduino1')
myInterface = interfaces.gestaltInterface(
"myInterface",
interfaces.serialInterface(baudRate=115200, interfaceType="ftdi", portName="/dev/tty.usbserial-FTVG67VT"),
)
myFabUnit = nodes.networkedGestaltNode("myFabUnit", myInterface, module=dummyNode)
# gsArduino = nodes.soloGestaltNode(name = 'gsArduino', interface = interfaces.serialInterface(baudRate = 76800, interfaceType = 'lufa',
# portName = "/dev/tty.usbmodemfa131"), module = dummyNode)
# gsArduino.identifyRequest()
# print gsArduino.urlRequest()
def __init__(self, name = None, interface = None, filename = None, URL = None, module = None, persistence = lambda:None, **kwargs): ''' Initialization procedure for Gestalt Node Shell. name: a unique name assigned by the user. This is used by the persistence algorithm to re-acquire the node. interface: the object thru which the virtual node communicates with its physical counterpart. **kwargs: any additional arguments to be passed to the node during initialization Methods of Loading Virtual Node: filename: an import-able module containing the virtual node. URL: a URL pointing to a module as a resource containing the virtual node. module: a python module name containing the virtual node. Networked/Gestalt virtual nodes initialize by associating with their counterparts over the network. A URL pointing to their driver is returned upon association. This driver is then loaded into the shell as the virtual node. ''' #call base class __init__ method super(gestaltNodeShell, self).__init__() #call init on baseNodeShell #assign parameters to variables self.name = name self.filename = filename self.URL = URL self.module = module self.persistence = persistence #connect to interface if interface: #make sure that node has a gestalt interface if type(interface) != interfaces.gestaltInterface: #wrap a gestalt interface around the provided interface self.interface.set(interfaces.gestaltInterface(interface = interface, owner = self), self) else: self.interface.set(interface, self) #interface isn't shared with other nodes, so owner is self. #import base node self.setNode(baseStandardGestaltNode()) if self.persistence(): address = self.persistence.get(self.name) else: address = None if address: #an IP address was found self.interface.assignNode(self.node, address) #assign node to interface with IP address nodeURL = self.node.urlRequest() #get node URL else: #acquire node #set node IP address -- this will be changed later once persistence is added address = self.generateIPAddress() #generate random IP address self.interface.assignNode(self.node, address) #assign node to interface with IP address if type(self) == networkedGestaltNode: notice(self, "please identify me on the network.") nodeURL = self.node.setIPRequest(address) #set real node's IP address, and retrieve URL. if self.persistence(): self.persistence.set(self.name, address) notice(self, nodeURL) #try to start node in application mode nodeStatus, appValid = self.statusRequest() if nodeStatus == 'B' and appValid: #node is in bootloader mode and application is valid if self.runApplication(): #need to reinitialize nodeURL = self.urlRequest() notice(self, " NOW RUNNING IN APPLICATION MODE") notice(self, nodeURL) #remove else: notice(self, "ERROR STARTING APPLICATION MODE") elif nodeStatus == 'A': notice(self, "RUNNING IN APPLICATION MODE") else: notice(self, " RUNNING IN BOOTLOADER MODE") else: #No interface, this can be intentional to allow debugging offline notice(self, 'Error - please provide an interface.') #acquire virtual node. #if a virtual node source is provided, use that. Otherwise acquire from URL provided by node. if filename: if not self.loadNodeFromFile(filename, **kwargs): return #load via URL elif URL: if not self.loadNodeFromURL(URL, **kwargs): return #load via module elif module: if not self.loadNodeFromModule(module, **kwargs): return #get URL from node else: if not self.loadNodeFromURL(nodeURL): return if interface: #assign new node with old IP address to interface. This replaces the default node with the imported node. self.interface.assignNode(self.node, address)
#update machine position
self.machinePosition[0] += self.xAxis.getDelta(xSteps)
self.machinePosition[1] += self.yAxis.getDelta(ySteps)
self.machinePosition[2] += self.zAxis.getDelta(zSteps)
EFD = nodes.soloIndependentNode(name = 'EFD', interface = interfaces.serialInterface(baudRate = 115200, interfaceType = 'lufa',
portName = "/dev/tty.PL2303-000012FD"),
filename = 'ultimus.py')
#myMachine = virtualMachine()
#myMachine.move(25, 25, 25, 50)
#
#EFD.dispense()
#time.sleep(5)
fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = '/dev/tty.usbserial-FTVG67VT'))
myNode = nodes.networkedGestaltNode('myNode', fabnet, filename = '086-005a.py')
#myNode.loadProgram('086-005a.hex')
myNode.setMotorCurrent(0.5)
myNode.stepConfigRequest(1, 3000)
myNode.stepSync(10000,1000,0,500)
for i in range(12):
print myNode.getMoveStatusRequest()
time.sleep(1)
myNode.disableDriver()
