def test_axis(driver, logger, axis):
retract_amounts = {'X': 3, 'Y': 3, 'Z': 2, 'A': 2, 'B': 2, 'C': 2}
retract = retract_amounts[axis]
expected_point = driver.homed_position[axis] + retract
points = [
expected_point - AXIS_TEST_SKIPPING_TOLERANCE,
expected_point + AXIS_TEST_SKIPPING_TOLERANCE
]
if axis == 'Y':
driver.move({'X': driver.homed_position['X']})
driver.push_speed()
driver.set_speed(8)
driver.update_position()
try:
driver.move({axis: points[0]})
except SmoothieError:
button_red()
logger.error('Test Failed: Pressing {} too soon'.format(axis))
if axis == 'Y':
if driver.switch_state[axis] is not False:
button_red()
logger.error('Test Failed: Pressing {} too soon'.format(axis))
else:
driver.move({axis: points[1]})
if driver.switch_state[axis] is not True:
button_red()
logger.error('Test Failed: Not hitting {} switch'.format(axis))
else:
try:
driver.move({axis: points[1]})
button_red()
logger.error('Test Failed: Not hitting {} switch'.format(axis))
except SmoothieError:
pass # hit the switch on purpose, so it's ok
driver.set_speed(DEFAULT_AXES_SPEED)
def hourglass_pattern(X_max, Y_max):
zero = 10
offset = 5
driver.move({'X': zero, 'Y': zero + offset})
driver.move({'X': X_max, 'Y': zero + offset})
driver.move({'X': zero, 'Y': Y_max})
driver.move({'X': X_max, 'Y': Y_max})
def bowtie_pattern(X_max, Y_max):
zero = 10
offset = 5
driver.move({'X': zero, 'Y': zero + offset})
driver.move({'X': zero, 'Y': Y_max})
driver.move({'X': X_max, 'Y': zero})
driver.move({'X': X_max, 'Y': Y_max})
def attempt_movement(driver, logger, coords_list):
driver.set_speed(DEFAULT_AXES_SPEED)
for c in coords_list:
try:
driver.move(c)
except SmoothieError:
button_red()
logger.exception('Failed movement: {}'.format(c))
driver._reset_from_error()
try:
driver.update_position()
except Exception:
pass
logger.info('Current Smoothie pos: {}'.format(driver.position))
attempt_homing(driver, logger)
def test_axis(axis, tolerance):
retract_amounts = {
'X': 3,
'Y': 3,
'Z': 2,
'A': 2,
'B': 2,
'C': 2
}
# it moves RETRACT_MM away from the endstop
retract = retract_amounts[axis]
expected_point = driver.homed_position[axis] + retract
points = [expected_point - tolerance, expected_point + tolerance]
# expected_point = home_position + retract
# safe distance from switch?
driver.push_speed()
driver.set_speed(8)
try:
driver.move({axis: points[0]})
except SmoothieError:
raise Exception('Test Failed: Pressing too soon')
if axis == 'Y':
if driver.switch_state[axis] is not False:
raise Exception('Test Failed: Pressing too soon')
driver.move({axis: points[1]})
if driver.switch_state[axis] is not True:
raise Exception('Test Failed: Not hitting switch')
else:
try:
driver.move({axis: points[1]})
raise Exception('Test Failed: Not hitting switch')
except SmoothieError:
pass
driver.pop_speed()
def pick_up_motion(max_dist, max_speed, low_speed):
zero = 100
zero_1 = 5
# Descent Z z to 100mm
setup(options.high_current, max_speed)
driver.set_speed(max_speed)
driver.move({'Z': zero, 'A': zero})
# Press Action
setup(options.low_current, max_speed)
driver.set_speed(low_speed)
driver.move({'Z': zero_1, 'A': zero_1})
# Retract Action
setup(options.high_current, max_speed)
driver.set_speed(max_speed)
driver.move({'Z': zero, 'A': zero})
# Jog up
driver.set_speed(max_speed)
driver.move({'Z': max_dist, 'A': max_dist})
def test_all_axes(driver, logger):
driver.move(COORDS_MAX)
for ax in ['Z', 'A', 'X', 'Y']:
test_axis(driver, logger, ax)