def reverse_transform_vector(self, vec, cur_pos):
""" Transform back from whatever """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Find the next column positions
self.end_ABC = self.start_ABC + vec[:3]
# We have the column translations and need to find what that
# represents in cartesian.
start_xyz = Delta.forward_kinematics2(self.start_ABC[0], self.start_ABC[1],
self.start_ABC[2])
end_xyz = Delta.forward_kinematics2(self.end_ABC[0], self.end_ABC[1],
self.end_ABC[2])
ret_vec[:3] = end_xyz - start_xyz
# Apply Automatic bed compensation
if self.use_bed_matrix:
ret_vec[:3] = np.dot(Path.matrix_bed_comp_inv, ret_vec[:3])
return ret_vec
def __init__(self, robot: str):
# Thread-safe event flags
self.program_stopped = Event()
self.ignore_controller = Event()
self._current_mode = 'off'
self.controller = None
self.already_connected = False
self.controller_poll_rate = 5
self.mode_poll_rate = 0.1
self.mode_lock = RLock()
self.lcd = LCD()
# Preprocess string
robot_str = robot.strip().lower()
if robot_str == '6rus':
self.robot = SixRUS(stepper_mode=1 / 32, step_delay=0.002)
elif robot_str == 'quattro':
self.robot = Quattro(stepper_mode=1 / 32, step_delay=0.002)
elif robot_str == 'delta':
self.robot = Delta(stepper_mode=1 / 32, step_delay=0.002)
else:
raise ValueError(f"Unknown robot type: {robot}")
self.lcd.print_status(f'Started {robot}')
def transform_vector(self, vec, cur_pos):
""" Transform vector to whatever coordinate system is used """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Subtract the current column positions
if hasattr(self.prev, "end_ABC"):
self.start_ABC = self.prev.end_ABC
else:
self.start_ABC = Delta.inverse_kinematics2(cur_pos[0], cur_pos[1],
cur_pos[2])
# Find the next column positions
self.end_ABC = Delta.inverse_kinematics2(cur_pos[0] + vec[0],
cur_pos[1] + vec[1],
cur_pos[2] + vec[2])
ret_vec[:3] = self.end_ABC - self.start_ABC
# Apply Automatic bed compensation
if self.use_bed_matrix:
ret_vec[:3] = np.dot(Path.matrix_bed_comp, ret_vec[:3])
return ret_vec
def execute(self, g):
if g.has_letter("L"):
Delta.L = float(g.get_value_by_letter("L"))
if g.has_letter("R"):
Delta.r = float(g.get_value_by_letter("R"))
if g.has_letter("S"):
logging.info("M665 S (segments/second) specified, but not implemented.")
#Recalcualte delta settings
Delta.recalculate()
def execute(self, g):
if g.has_letter("L"):
Delta.L = float(g.get_value_by_letter("L"))
if g.has_letter("R"):
Delta.r = float(g.get_value_by_letter("R"))
if g.has_letter("S"):
logging.info(
"M665 S (segments/second) specified, but not implemented.")
#Recalcualte delta settings
Delta.recalculate()
def Torrent(itorrent, dir1, dir2, idelta, dirD, files):
torrent = opentorrent(itorrent)
sfiles = []
d = 0
files = sortByFiles(files)
for i in files:
S = True
df1 = os.path.join(dir1, i[0])
df2 = os.path.join(dir2, i[1])
if not os.path.isfile(df1):
print("File not found: {}".format(i[0]))
S = False
if not os.path.isfile(df2):
print("File not found: {}".format(i[1]))
S = False
if not fileintorr(torrent, i[0]):
print("File not found in torrent: {}".format(i[0]))
S = False
if S:
execute('xdelta3 -e -s "{}" "{}" "{}.delta"'.format(df1, df2, d))
sfiles.append({
'file1':
i[0],
'file2':
i[1],
'delta':
Delta("d.delta".format(d), idelta, i[0], i[1])
})
d += 1
CDelta(sfiles, dirD, dir2)
def execute(self, g):
if g.has_letter("A"):
if g.has_letter("B") or g.has_letter("C"):
g.set_answer("Only 1 column can be set per M667 call.")
return
if g.has_letter("X"):
Delta.Apxe = float(g.get_value_by_letter("X"))
if g.has_letter("Y"):
Delta.Apye = float(g.get_value_by_letter("Y"))
if g.has_letter("R"):
Delta.Aco = float(g.get_value_by_letter("R"))
if g.has_letter("B"):
if g.has_letter("A") or g.has_letter("C"):
g.set_answer("Only 1 column can be set per M667 call.")
return
if g.has_letter("X"):
Delta.Bpxe = float(g.get_value_by_letter("X"))
if g.has_letter("Y"):
Delta.Bpye = float(g.get_value_by_letter("Y"))
if g.has_letter("R"):
Delta.Bco = float(g.get_value_by_letter("R"))
if g.has_letter("C"):
if g.has_letter("B") or g.has_letter("A"):
g.set_answer("Only 1 column can be set per M667 call.")
return
if g.has_letter("X"):
Delta.Cpxe = float(g.get_value_by_letter("X"))
if g.has_letter("Y"):
Delta.Cpye = float(g.get_value_by_letter("Y"))
if g.has_letter("R"):
Delta.Cco = float(g.get_value_by_letter("R"))
Delta.recalculate()
def execute(self, g):
if g.has_letter("A"):
if g.has_letter("B") or g.has_letter("C"):
g.set_answer("Only 1 column can be set per M667 call.")
return
if g.has_letter("X"):
Delta.Apxe = float(g.get_value_by_letter("X"))
if g.has_letter("Y"):
Delta.Apye = float(g.get_value_by_letter("Y"))
if g.has_letter("R"):
Delta.Aco = float(g.get_value_by_letter("R"))
if g.has_letter("B"):
if g.has_letter("A") or g.has_letter("C"):
g.set_answer("Only 1 column can be set per M667 call.")
return
if g.has_letter("X"):
Delta.Bpxe = float(g.get_value_by_letter("X"))
if g.has_letter("Y"):
Delta.Bpye = float(g.get_value_by_letter("Y"))
if g.has_letter("R"):
Delta.Bco = float(g.get_value_by_letter("R"))
if g.has_letter("C"):
if g.has_letter("B") or g.has_letter("A"):
g.set_answer("Only 1 column can be set per M667 call.")
return
if g.has_letter("X"):
Delta.Cpxe = float(g.get_value_by_letter("X"))
if g.has_letter("Y"):
Delta.Cpye = float(g.get_value_by_letter("Y"))
if g.has_letter("R"):
Delta.Cco = float(g.get_value_by_letter("R"))
Delta.recalculate()
def home(self, axis):
""" Home the given axis using endstops (min) """
logging.debug("homing " + str(axis))
# Home axis for core X,Y and H-Belt independently to avoid hardware
# damages.
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY or \
Path.axis_config == Path.AXIS_CONFIG_H_BELT:
for a in axis:
self._home_internal(a)
# For delta, switch to cartesian when homing
elif Path.axis_config == Path.AXIS_CONFIG_DELTA:
if 0 < len({"X", "Y", "Z"}.intersection(set(axis))) < 3:
axis = list(set(axis).union({"X", "Y", "Z"})) # Deltas must home all axes.
Path.axis_config = Path.AXIS_CONFIG_XY
path_center, speed = self._home_internal(axis)
Path.axis_config = Path.AXIS_CONFIG_DELTA
# homing was performed in cartesian mode
# need to convert back to delta
Az = path_center['X']
Bz = path_center['Y']
Cz = path_center['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
xyz[2] += z_offset
path = {'X':xyz[0], 'Y':xyz[1], 'Z':xyz[2]}
p = G92Path(path, speed)
self.add_path(p)
self.wait_until_done()
else:
self._home_internal(axis)
# go to the designated home position
self._go_to_home(axis)
# Reset backlash compensation
Path.backlash_reset()
logging.debug("homing done for " + str(axis))
return
def home(self, axis):
""" Home the given axis using endstops (min) """
logging.debug("homing " + str(axis))
# Home axis for core X,Y and H-Belt independently to avoid hardware
# damages.
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY or \
Path.axis_config == Path.AXIS_CONFIG_H_BELT:
for a in axis:
self._home_internal(a)
# For delta, switch to cartesian when homing
elif Path.axis_config == Path.AXIS_CONFIG_DELTA:
if 0 < len({"X", "Y", "Z"}.intersection(set(axis))) < 3:
axis = list(set(axis).union({"X", "Y", "Z"})) # Deltas must home all axes.
Path.axis_config = Path.AXIS_CONFIG_XY
path_center, speed = self._home_internal(axis)
Path.axis_config = Path.AXIS_CONFIG_DELTA
# homing was performed in cartesian mode
# need to convert back to delta
Az = path_center['X']
Bz = path_center['Y']
Cz = path_center['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
xyz[2] += z_offset
path = {'X':xyz[0], 'Y':xyz[1], 'Z':xyz[2]}
p = G92Path(path, speed)
self.add_path(p)
self.wait_until_done()
else: # AXIS_CONFIG_XY
self._home_internal(axis)
# go to the designated home position
self._go_to_home(axis)
# Reset backlash compensation
Path.backlash_reset()
logging.debug("homing done for " + str(axis))
return
def transform_vector(self, vec, cur_pos):
""" Transform vector to whatever coordinate system is used """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Subtract the current column positions
start_ABC = Delta.inverse_kinematics(cur_pos[0], cur_pos[1],
cur_pos[2])
# Find the next column positions
end_ABC = Delta.inverse_kinematics(cur_pos[0] + vec[0],
cur_pos[1] + vec[1],
cur_pos[2] + vec[2])
ret_vec[:3] = end_ABC - start_ABC
return ret_vec
def transform_vector(self, vec, cur_pos):
""" Transform vector to whatever coordinate system is used """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Subtract the current column positions
start_ABC = Delta.inverse_kinematics(cur_pos[0], cur_pos[1],
cur_pos[2])
# Find the next column positions
end_ABC = Delta.inverse_kinematics(cur_pos[0] + vec[0],
cur_pos[1] + vec[1],
cur_pos[2] + vec[2])
ret_vec[:3] = end_ABC - start_ABC
return ret_vec
def transform_vector(self, vec, cur_pos):
""" Transform vector to whatever coordinate system is used """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Subtract the current column positions
if hasattr(self.prev, "end_ABC"):
self.start_ABC = self.prev.end_ABC
else:
self.start_ABC = Delta.inverse_kinematics2(cur_pos[0], cur_pos[1],
cur_pos[2])
# Find the next column positions
self.end_ABC = Delta.inverse_kinematics2(cur_pos[0] + vec[0],
cur_pos[1] + vec[1],
cur_pos[2] + vec[2])
ret_vec[:3] = self.end_ABC - self.start_ABC
if Path.axis_config == Path.AXIS_CONFIG_SCARA:
# Subtract the current angle positions
if hasattr(self.prev, "end_ABC"):
self.start_ABC = self.prev.end_ABC
else:
self.start_ABC = Scara.inverse_kinematics(cur_pos[0], cur_pos[1],
cur_pos[2])
# Find the next angle positions
self.end_ABC = Scara.inverse_kinematics(cur_pos[0] + vec[0],
cur_pos[1] + vec[1],
cur_pos[2] + vec[2]
)
ret_vec[:3] = self.end_ABC - self.start_ABC
# Apply Automatic bed compensation
if self.use_bed_matrix:
ret_vec[:3] = np.dot(Path.matrix_bed_comp, ret_vec[:3])
return ret_vec
def reverse_transform_vector(self, vec, cur_pos):
""" Transform back from whatever """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Find the next column positions
self.end_ABC = self.start_ABC + vec[:3]
# We have the column translations and need to find what that
# represents in cartesian.
start_xyz = Delta.forward_kinematics2(self.start_ABC[0],
self.start_ABC[1],
self.start_ABC[2])
end_xyz = Delta.forward_kinematics2(self.end_ABC[0],
self.end_ABC[1],
self.end_ABC[2])
ret_vec[:3] = end_xyz - start_xyz
return ret_vec
def reverse_transform_vector(self, vec, cur_pos):
""" Transform back from whatever """
ret_vec = np.copy(vec)
if Path.axis_config == Path.AXIS_CONFIG_H_BELT:
X = np.dot(Path.matrix_H, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY:
X = np.dot(Path.matrix_XY_inv, vec[0:2])
ret_vec[:2] = X[0]
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
# Subtract the current column positions
start_ABC = Delta.inverse_kinematics(cur_pos[0], cur_pos[1],
cur_pos[2])
# Find the next column positions
end_ABC = start_ABC + vec[:3]
# We have the column translations and need to find what that
# represents in cartesian.
start_xyz = Delta.forward_kinematics(start_ABC[0], start_ABC[1],
start_ABC[2])
end_xyz = Delta.forward_kinematics(end_ABC[0], end_ABC[1],
end_ABC[2])
ret_vec[:3] = end_xyz - start_xyz
return ret_vec
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
printer = Printer()
self.printer = printer
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
sys.exit() # maybe use something more graceful?
# Parse the config files.
printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
Path.set_axes(5)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "0A4A"
# We set it to 5 axis by default
Path.set_axes(5)
if self.printer.config.reach_revision:
Path.set_axes(8)
logging.info("Found Reach rev. "+self.printer.config.reach_revision)
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1"]:
PWM.set_frequency(1000)
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
for es in ["X1", "X2", "Y1", "Y2", "Z1", "Z2"]:
pin = self.printer.config.get("Endstops", "pin_"+es)
keycode = self.printer.config.getint("Endstops", "keycode_"+es)
invert = self.printer.config.getboolean("Endstops", "invert_"+es)
self.printer.end_stops[es] = EndStop(pin, keycode, es, invert)
# Backwards compatibility with A3
if self.revision == "00A3":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H", 4, 4)
elif self.revision == "00B1":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4)
else:
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H", 4, 4)
if printer.config.reach_revision:
printer.steppers["A"] = Stepper_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A", 5, 5)
printer.steppers["B"] = Stepper_00A4("GPIO1_14", "GPIO0_5" , "GPIO0_14", 6, 6, "B", 6, 6)
printer.steppers["C"] = Stepper_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C", 7, 7)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(printer.config.getboolean("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)
# Commit changes for the Steppers
#Stepper.commit()
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Set up cold ends
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 0"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_"+e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_"+e)
chart = self.printer.config.get("Heaters", "temp_chart_"+e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart)
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e)
prefix = self.printer.config.get('Heaters', 'prefix_'+e)
if e != "HBP":
self.printer.heaters[e] = Extruder(
self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e, onoff)
else:
self.printer.heaters[e] = HBP(
self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e)
self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e)
self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision == "00B1":
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")):
if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"):
channel = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_channel")
angle_off = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_off")
s = Servo(channel, 500, 750, angle_off)
s.angle_on = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_on")
s.angle_off = angle_off
printer.servos.append(s)
logging.info("Added servo "+str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), False)
c.ok_range = 4
c.set_target_temperature(60)
c.enable()
self.printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the cold end 0 to fan 2
# This is very "Thing" specific, should be configurable somehow.
if len(self.printer.cold_ends):
self.printer.coolers.append(
Cooler(self.printer.cold_ends[0], self.printer.fans[2],
"Cooler0", False))
self.printer.coolers[0].ok_range = 4
self.printer.coolers[0].set_target_temperature(60)
self.printer.coolers[0].enable()
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower())
Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter()
Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(
dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.revision, self.printer.config, "/usr/bin/pasm")
printer.maxJerkXY = printer.config.getfloat('Planner', 'maxJerk_xy')
printer.maxJerkZ = printer.config.getfloat('Planner', 'maxJerk_z')
printer.maxJerkEH = printer.config.getfloat('Planner', 'maxJerk_eh')
printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
printer.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X','Y','Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X','Y','Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis]
if axis in ['X','Y','Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_enabled()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")
def home(self, axis):
""" Home the given axis using endstops (min) """
logging.debug("homing " + str(axis))
# Home axis for core X,Y and H-Belt independently to avoid hardware
# damages.
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY or \
Path.axis_config == Path.AXIS_CONFIG_H_BELT:
for a in axis:
self._home_internal(a)
# For delta, switch to cartesian when homing
elif Path.axis_config == Path.AXIS_CONFIG_DELTA:
if 0 < len({"X", "Y", "Z"}.intersection(set(axis))) < 3:
axis = list(set(axis).union({"X", "Y", "Z"
})) # Deltas must home all axes.
Path.axis_config = Path.AXIS_CONFIG_XY
path_center, speed = self._home_internal(axis)
Path.axis_config = Path.AXIS_CONFIG_DELTA
# homing was performed in cartesian mode
# need to convert back to delta
Az = path_center['X']
Bz = path_center['Y']
Cz = path_center['Z']
z_offset = Delta.vertical_offset(Az, Bz, Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
xyz[2] += z_offset
path = {'X': xyz[0], 'Y': xyz[1], 'Z': xyz[2]}
p = G92Path(path, speed)
self.add_path(p)
self.wait_until_done()
# For scar, switch also to cartesian when homing
elif Path.axis_config == Path.AXIS_CONFIG_SCARA:
# TODO: implement individual homing ( needs to take care of position after homing)
if 0 < len({"X", "Y", "Z"}.intersection(set(axis))) < 3:
axis = list(set(axis).union({
"X", "Y", "Z"
})) # For now Scaras must home all axes. Than can changed
Path.axis_config = Path.AXIS_CONFIG_XY
path_center, speed = self._home_internal(axis)
Path.axis_config = Path.AXIS_CONFIG_SCARA
# homing was performed in cartesian mode
# need to convert back to delta
A = path_center['X']
B = path_center['Y']
C = path_center['Z']
#z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
# xyz = Scara.inverse_kinematics(A, B, C) # effector position
# logging.debug("HomeXYZ: %s", xyz)
#xyz[2] += z_offset
# don't cpnvert home_pos to effector spac
# home offset is defined in cartesian space
# xyz = np.array([path_center['X'], path_center['Y'], path_center['Z']])
#path = {'X':xyz[0], 'Y':xyz[1], 'Z':xyz[2]}
path = {A, B, C}
p = G92Path(path, speed)
self.add_path(p)
self.wait_until_done()
else:
self._home_internal(axis)
# go to the designated home position
self._go_to_home(axis)
# Reset backlash compensation
Path.backlash_reset()
logging.debug("homing done for " + str(axis))
return
import random
from Delta import Delta
from Active_Function import Sigmoid
count_Training_Data = 4
count_Node = 1
X = [[0, 0, 1], [0, 1, 1], [1, 0, 1], [1, 1, 1]]
D = [0, 0, 1, 1]
Weight = list()
for i in range(0, 3):
Weight.append(random.uniform(-1, 1))
bias = [0]
Learning_rate = 0.9
for epoch in range(0, 10000):
Delta("SGD", Learning_rate, Sigmoid, bias, Weight, X, D,
count_Training_Data, count_Node)
for k in range(0, count_Training_Data):
v = 0
for W_count in range(0, len(Weight)):
x = X[k][W_count]
v = v + (Weight[W_count] * x + 0)
print(Sigmoid(v, False))
import random
from Delta import Delta, Sigmoid
#N = int(input("학습데이터의 수: "))
count_Training = 4 # 학습데이터의 수
count_Node = 1
# 1. 데이터 입력
X = [[0, 0, 1], [0, 1, 1], [1, 0, 1], [1, 1, 1]]
D = [0, 0, 1, 1]
Weight = list()
for i in range(0, 3): # 노드의 입력값들의 가중치 count
Weight.append(random.uniform(-1, 1)) # 가중치 랜덤값으로 초기화
bias = [0]
Learning_rate = 0.9 #학습률(0<alpha<=1), 크면 수렴하지 못함, 작으면 정답에 근접속도가 느림
for epoch in range(0, 10000): # SGD 방식
Delta(Learning_rate, Sigmoid, bias, Weight, X, D, count_Training,
count_Node) #활성함수(시그모이드)를 델타 규칙으로 학습
for k in range(0, count_Training):
v = 0
for W_count in range(0, len(Weight)):
x = X[k][W_count] #학습데이터의 입력데이터
#v = W*x+0 #노드의 가중합(가중행렬*입력데이터+bias)
#의도가 담긴 방향성
v = v + (Weight[W_count] * x + 0)
# 최종v = v + 0(행렬계산 + bias)
print(Sigmoid(v, False))
def home(self, axis):
""" Home the given axis using endstops (min) """
logging.debug("homing " + str(axis))
# Home axis for core X,Y and H-Belt independently to avoid hardware
# damages.
if Path.axis_config == Path.AXIS_CONFIG_CORE_XY or \
Path.axis_config == Path.AXIS_CONFIG_H_BELT:
for a in axis:
self._home_internal(a)
# For delta, switch to cartesian when homing
elif Path.axis_config == Path.AXIS_CONFIG_DELTA:
if 0 < len({"X", "Y", "Z"}.intersection(set(axis))) < 3:
axis = list(set(axis).union({"X", "Y", "Z"})) # Deltas must home all axes.
Path.axis_config = Path.AXIS_CONFIG_XY
path_center, speed = self._home_internal(axis)
Path.axis_config = Path.AXIS_CONFIG_DELTA
# homing was performed in cartesian mode
# need to convert back to delta
Az = path_center['X']
Bz = path_center['Y']
Cz = path_center['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
xyz[2] += z_offset
path = {'X':xyz[0], 'Y':xyz[1], 'Z':xyz[2]}
p = G92Path(path, speed)
self.add_path(p)
self.wait_until_done()
# For scar, switch also to cartesian when homing
elif Path.axis_config == Path.AXIS_CONFIG_SCARA:
# TODO: implement individual homing ( needs to take care of position after homing)
if 0 < len({"X", "Y", "Z"}.intersection(set(axis))) < 3:
axis = list(set(axis).union({"X", "Y", "Z"})) # For now Scaras must home all axes. Than can changed
Path.axis_config = Path.AXIS_CONFIG_XY
path_center, speed = self._home_internal(axis)
Path.axis_config = Path.AXIS_CONFIG_SCARA
# homing was performed in cartesian mode
# need to convert back to delta
A = path_center['X']
B = path_center['Y']
C = path_center['Z']
#z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
# xyz = Scara.inverse_kinematics(A, B, C) # effector position
# logging.debug("HomeXYZ: %s", xyz)
#xyz[2] += z_offset
# don't cpnvert home_pos to effector spac
# home offset is defined in cartesian space
# xyz = np.array([path_center['X'], path_center['Y'], path_center['Z']])
#path = {'X':xyz[0], 'Y':xyz[1], 'Z':xyz[2]}
path = {A, B, C}
p = G92Path(path, speed)
self.add_path(p)
self.wait_until_done()
else:
self._home_internal(axis)
# go to the designated home position
self._go_to_home(axis)
# Reset backlash compensation
Path.backlash_reset()
logging.debug("homing done for " + str(axis))
return
def __init__(self):
firmware_version = "1.1.8~Raw Deal"
logging.info("Redeem initializing "+firmware_version)
printer = Printer()
self.printer = printer
Path.printer = printer
printer.firmware_version = firmware_version
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
sys.exit() # maybe use something more graceful?
if not os.path.exists("/etc/redeem/local.cfg"):
logging.info("/etc/redeem/local.cfg does not exist, Creating one")
os.mknod("/etc/redeem/local.cfg")
# Parse the config files.
printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
# Set up additional logging, if present:
if self.printer.config.getboolean('System', 'log_to_file'):
logfile = self.printer.config.get('System', 'logfile')
formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s'
printer.redeem_logging_handler = logging.handlers.RotatingFileHandler(logfile, maxBytes=2*1024*1024)
printer.redeem_logging_handler.setFormatter(logging.Formatter(formatter))
printer.redeem_logging_handler.setLevel(level)
logging.getLogger().addHandler(printer.redeem_logging_handler)
logging.info("-- Logfile configured --")
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "00B3"
# We set it to 5 axis by default
Path.NUM_AXES = 5
if self.printer.config.reach_revision:
logging.info("Found Reach rev. "+self.printer.config.reach_revision)
if self.printer.config.reach_revision == "00A0":
Path.NUM_AXES = 8
elif self.printer.config.reach_revision == "00B0":
Path.NUM_AXES = 7
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2", "00B3"]:
PWM.set_frequency(1000)
# Test the alarm framework
Alarm.printer = self.printer
Alarm.executor = AlarmExecutor()
alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational")
# Init the Watchdog timer
printer.watchdog = Watchdog()
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_disabled()
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
# Set up key listener
Key_pin.listener = Key_pin_listener(EndStop.inputdev)
for es in ["Z2", "Y2", "X2", "Z1", "Y1", "X1"]: # Order matches end stop inversion mask in Firmware
pin = self.printer.config.get("Endstops", "pin_"+es)
keycode = self.printer.config.getint("Endstops", "keycode_"+es)
invert = self.printer.config.getboolean("Endstops", "invert_"+es)
self.printer.end_stops[es] = EndStop(printer, pin, keycode, es, invert)
self.printer.end_stops[es].stops = self.printer.config.get('Endstops', 'end_stop_'+es+'_stops')
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
if self.revision == "00A3":
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X")
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y")
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E")
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H")
elif self.revision == "00B1":
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X")
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E")
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H")
elif self.revision == "00B2":
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X")
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E")
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H")
elif self.revision == "00B3":
printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90, 11, 0, "X")
printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91, 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92, 13, 2, "Z")
printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93, 14, 3, "E")
printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94, 15, 4, "H")
elif self.revision in ["00A4", "0A4A"]:
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X")
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y")
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z")
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E")
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H")
# Init Reach steppers, if present.
if printer.config.reach_revision == "00A0":
printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5" , "GPIO0_14", 6, 6, "B")
printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C")
elif printer.config.reach_revision == "00B0":
printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5", "GPIO0_3", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2" , "GPIO0_14", "GPIO0_3", 6, 6, "B")
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(printer.config.getint("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)
slave = printer.config.get('Steppers', 'slave_' + name)
if slave:
Path.add_slave(name, slave)
logging.debug("Axis "+name+" has slave "+slave)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: "+str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-"+str(i)))
logging.info("Found Cold end "+str(i)+" on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_"+e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_"+e)
chart = self.printer.config.get("Heaters", "temp_chart_"+e)
resistance = self.printer.config.getfloat("Heaters", "resistance_"+e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart, resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e)
prefix = self.printer.config.get('Heaters', 'prefix_'+e)
if e != "HBP":
self.printer.heaters[e] = Extruder(
self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e, onoff)
else:
self.printer.heaters[e] = HBP(
self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e)
self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e)
self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e)
# Min/max settings
self.printer.heaters[e].min_temp = self.printer.config.getfloat('Heaters', 'min_temp_'+e)
self.printer.heaters[e].max_temp = self.printer.config.getfloat('Heaters', 'max_temp_'+e)
self.printer.heaters[e].max_temp_rise = self.printer.config.getfloat('Heaters', 'max_rise_temp_'+e)
self.printer.heaters[e].max_temp_fall = self.printer.config.getfloat('Heaters', 'max_fall_temp_'+e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2", "00B3"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
if printer.config.reach_revision == "00A0":
self.printer.fans.append(Fan(14))
self.printer.fans.append(Fan(15))
self.printer.fans.append(Fan(7))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")):
if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"):
channel = printer.config.get("Servos", "servo_"+str(servo_nr)+"_channel")
pulse_min = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_pulse_min")
pulse_max = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_pulse_max")
angle_min = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_angle_min")
angle_max = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_angle_max")
angle_init = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_angle_init")
s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max, angle_init)
printer.servos.append(s)
logging.info("Added servo "+str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
continue
if printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), True) # Use ON/OFF on these.
c.ok_range = 4
opt_temp = "therm-{}-fan-{}-target_temp".format(t, f)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat('Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option('Cold-ends', "add-fan-{}-to-M106".format(i)):
continue
if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan, "Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
opt_temp = "cooler_{}_target_temp".format(ce)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat('Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects temp sensor ds18b20 {} with fan {}".format(ce, f))
# Init roatray encs.
printer.filament_sensors = []
# Init rotary encoders
printer.rotary_encoders = []
for ex in ["E", "H", "A", "B", "C"]:
if not printer.config.has_option('Rotary-encoders', "enable-{}".format(ex)):
continue
if printer.config.getboolean("Rotary-encoders", "enable-{}".format(ex)):
logging.debug("Rotary encoder {} enabled".format(ex))
event = printer.config.get("Rotary-encoders", "event-{}".format(ex))
cpr = printer.config.getint("Rotary-encoders", "cpr-{}".format(ex))
diameter = printer.config.getfloat("Rotary-encoders", "diameter-{}".format(ex))
r = RotaryEncoder(event, cpr, diameter)
printer.rotary_encoders.append(r)
# Append as Filament Sensor
ext_nr = Path.axis_to_index(ex)-3
sensor = FilamentSensor(ex, r, ext_nr, printer)
alarm_level = printer.config.getfloat("Filament-sensors", "alarm-level-{}".format(ex))
logging.debug("Alarm level"+str(alarm_level))
sensor.alarm_level = alarm_level
printer.filament_sensors.append(sensor)
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower())
Path.min_speeds[i] = printer.config.getfloat('Planner', 'min_speed_'+axis.lower())
Path.jerks[i] = printer.config.getfloat('Planner', 'max_jerk_'+axis.lower())
Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter()
Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(
dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.printer, "/usr/bin/pasm")
printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
Path.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X','Y','Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X','Y','Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis]
if axis in ['X','Y','Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
# Enable Stepper timeout
timeout = printer.config.getint('Steppers', 'timeout_seconds')
printer.swd = StepperWatchdog(printer, timeout)
if printer.config.getboolean('Steppers', 'use_timeout'):
printer.swd.start()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")
class Runtime:
def __init__(self, robot: str):
# Thread-safe event flags
self.program_stopped = Event()
self.ignore_controller = Event()
self._current_mode = 'off'
self.controller = None
self.already_connected = False
self.controller_poll_rate = 5
self.mode_poll_rate = 0.1
self.mode_lock = RLock()
self.lcd = LCD()
# Preprocess string
robot_str = robot.strip().lower()
if robot_str == '6rus':
self.robot = SixRUS(stepper_mode=1 / 32, step_delay=0.002)
elif robot_str == 'quattro':
self.robot = Quattro(stepper_mode=1 / 32, step_delay=0.002)
elif robot_str == 'delta':
self.robot = Delta(stepper_mode=1 / 32, step_delay=0.002)
else:
raise ValueError(f"Unknown robot type: {robot}")
self.lcd.print_status(f'Started {robot}')
@property
def current_mode(self):
with self.mode_lock:
return self._current_mode
@current_mode.setter
def current_mode(self, val):
with self.mode_lock:
self._current_mode = val
def eval_controller_response(self, response):
"""
evaluates the answer from the mode_from_input-function
"""
if isinstance(response, str):
if response in ['stop', 'demo', 'manual', 'calibrate', 'off']:
pass
elif response == 'homing':
self.ignore_controller.set()
else:
raise ValueError("Unknown answer from controller")
if self.current_mode != response: # only print if the mode changes
logging.debug(
f'Switching from {self.current_mode} to {response}.')
self.lcd.print_status(f'Status: {response}')
self.current_mode = response # set robot mode to the response
return True
return False # no response given
def poll_controller_status(self):
if self.program_stopped.is_set():
return
if not controller.still_connected():
self.already_connected = False
logging.info("Please connect controller! Retrying in 5 seconds...")
self.lcd.print_connection(False)
else:
if self.already_connected:
# no new initialisation required here
logging.info('Controller still connected.')
else:
# stop listening as the controller gets initalised
self.ignore_controller.set()
# init new joystick since the controller was reconnected or connected the first time
self.controller = controller.init_controller()
self.ignore_controller.clear()
self.already_connected = True
logging.info('Controller connected.')
self.lcd.print_connection(True)
# call program again after 5 seconds
Timer(self.controller_poll_rate, self.poll_controller_status).start()
def poll_program_mode(self):
if self.program_stopped.is_set():
# Finish thread if program is terminated
return
# Handle controller inputs all the time to keep button states up to date
try:
controls = controller.get_controller_inputs(self.controller)
if not self.ignore_controller.is_set():
# evaluate the answer from controller
self.eval_controller_response(
controller.mode_from_inputs(controls))
except AttributeError:
pass
except pygame.error as e:
logging.exception(e)
finally:
# call program again after 0.1 seconds
Timer(self.mode_poll_rate, self.poll_program_mode).start()
def move(self, pose):
try:
self.robot.mov(pose)
except WorkspaceViolation:
logging.debug(f"Cannot move to pose:{pose}")
else:
self.lcd.print_pose(pose)
def move_manual(self, dt=0.005):
"""
This is the manual controlling mode, where the robot can be driven with the controller.
Exits only if the mode was changed or the program was interrupted
"""
# stop listening to controller (bc. we listen all the time in here)
self.ignore_controller.set()
time.sleep(dt)
try:
inputs = controller.get_controller_inputs(self.controller)
except AttributeError:
return
new_pose = controller.get_movement_from_cont(inputs,
self.robot.currPose)
# check if mode was changed
if self.eval_controller_response(controller.mode_from_inputs(inputs)):
self.ignore_controller.clear()
self.move(new_pose)
def move_demo(self):
"""
Selects a random demo programm and executes it
"""
modules = []
for a in dir(demo):
if isinstance(getattr(demo, a), types.FunctionType):
modules.append(getattr(demo, a))
prog = random.choice(modules) # choose a random demo
demo_pos_list = prog() # execute chosen demo programm
for pos in demo_pos_list:
try:
if pos[6] == 'lin':
coord = pos[:6] # extract only pose
self.robot.mov_lin(coord) # move linear
elif pos[6] == 'mov':
coord = pos[:6] # extract only pose
self.move(coord) # move with PTP-interplation
except IndexError:
self.move(pos) # if 'lin' or 'mov' wasent given, use mov/PTP
if not self.current_mode == 'demo': # break if the mode was changed
break
def calibrate_process(self, dt=0.005):
"""
enters mode, where the user can calibrate each motor in microstep mode.
A homing procedure has to be done afterwarts!
`dt`: how fast the controller inputs get checked in [s]
"""
mot_num = 0 # motornumber from 0 to 5
# pose after calibration has to be given to move the motors but is not necessary here
# since a homing procedure has to be done afterwards anyways
pose_after_cali = [0, 0, 0, 0, 0, 0]
allowed_to_change_again = True # if the next motor can be selected
cali_step_increment = 1
while True:
time.sleep(dt)
try:
controls = controller.get_controller_inputs(self.controller)
except AttributeError:
continue
# check if mode was changed
if self.eval_controller_response(
controller.mode_from_inputs(controls)):
break
cali_mot = [0, 0, 0, 0, 0, 0]
if allowed_to_change_again:
# change motornumber with L1 and R1
if controls['L1']:
mot_num -= 1
elif controls['R1']:
mot_num += 1
# check if selected motor number exists
if mot_num > self.robot.dof - 1:
mot_num = 0
elif mot_num < 0:
mot_num = self.robot.dof - 1
allowed_to_change_again = False
if controls['L1'] == 0 and controls[
'R1'] == 0: # both buttons have to be released to switch to next motor
allowed_to_change_again = True
if controls['UP']:
cali_mot[
mot_num] = cali_step_increment # set 1 posivitve for selected motor
elif controls['DOWN']:
cali_mot[
mot_num] = -cali_step_increment # set -1 posivitve for selected motor
elif controls['LEFT'] and self.robot.stepperMode != 0:
# Decrement calibration step size but needs to be at least 1
cali_step_increment = max(1, cali_step_increment - 1)
elif controls['RIGHT'] and self.robot.stepperMode != 0:
# Increment calibration step size but needs to be <= 1/step-mode (e.g. 1/32 -> 32 inc = 1 full step)
cali_step_increment = min(1 / self.robot.stepperMode,
cali_step_increment + 1)
self.robot.mov_steps(cali_mot, pose_after_cali)
def loop(self):
self.robot.homing('90') # home robot
self.controller = controller.init_controller()
if self.controller is None:
self.already_connected = False
# call subroutine every 5-seconds to check for controller
self.poll_controller_status()
# start listening to controller
self.ignore_controller.clear()
self.poll_program_mode()
while not self.program_stopped.is_set():
# State Machine
if self.current_mode == 'off':
self.robot.disable_steppers()
time.sleep(0.0001) # limit loop time
else:
self.robot.enable_steppers()
if self.current_mode == 'demo':
self.move_demo()
time.sleep(2)
elif self.current_mode == 'manual':
# control the robot with the controller
self.move_manual()
elif self.current_mode == 'calibrate':
# stop listening to controller (bc. we listen all the time in here)
self.ignore_controller.set()
time.sleep(0.5)
self.calibrate_process()
time.sleep(0.5)
# home robot afterwards
logging.info('Switching to homing')
self.lcd.print_status(f'Status: homing')
self.current_mode = 'homing'
elif self.current_mode == 'homing':
# stop listening to controller to prevent program change while homing
self.ignore_controller.set()
time.sleep(
1.5) # wait a bit to reduce multiple homing attempts
self.robot.homing('90') # use homing method '90'
# exit homing and switch to state that stopped calibration
logging.info('Switching to stop')
self.lcd.print_status(f'Status: stop')
self.current_mode = 'stop'
self.ignore_controller.clear()
elif self.current_mode == 'stop':
# stop robot after next movement and do nothing
time.sleep(0.0001) # limit loop time
def __init__(self):
firmware_version = "1.1.8~Raw Deal"
logging.info("Redeem initializing " + firmware_version)
printer = Printer()
self.printer = printer
Path.printer = printer
printer.firmware_version = firmware_version
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error(
"/etc/redeem/default.cfg does not exist, this file is required for operation"
)
sys.exit() # maybe use something more graceful?
if not os.path.exists("/etc/redeem/local.cfg"):
logging.info("/etc/redeem/local.cfg does not exist, Creating one")
os.mknod("/etc/redeem/local.cfg")
# Parse the config files.
printer.config = CascadingConfigParser([
'/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'
])
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
# Set up additional logging, if present:
if self.printer.config.getboolean('System', 'log_to_file'):
logfile = self.printer.config.get('System', 'logfile')
formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s'
printer.redeem_logging_handler = logging.handlers.RotatingFileHandler(
logfile, maxBytes=2 * 1024 * 1024)
printer.redeem_logging_handler.setFormatter(
logging.Formatter(formatter))
printer.redeem_logging_handler.setLevel(level)
logging.getLogger().addHandler(printer.redeem_logging_handler)
logging.info("-- Logfile configured --")
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "00B3"
# We set it to 5 axis by default
Path.NUM_AXES = 5
if self.printer.config.reach_revision:
logging.info("Found Reach rev. " +
self.printer.config.reach_revision)
if self.printer.config.reach_revision == "00A0":
Path.NUM_AXES = 8
elif self.printer.config.reach_revision == "00B0":
Path.NUM_AXES = 7
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2", "00B3"]:
PWM.set_frequency(1000)
# Test the alarm framework
Alarm.printer = self.printer
Alarm.executor = AlarmExecutor()
alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational")
# Init the Watchdog timer
printer.watchdog = Watchdog()
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_disabled()
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
# Set up key listener
Key_pin.listener = Key_pin_listener(EndStop.inputdev)
for es in ["Z2", "Y2", "X2", "Z1", "Y1",
"X1"]: # Order matches end stop inversion mask in Firmware
pin = self.printer.config.get("Endstops", "pin_" + es)
keycode = self.printer.config.getint("Endstops", "keycode_" + es)
invert = self.printer.config.getboolean("Endstops", "invert_" + es)
self.printer.end_stops[es] = EndStop(printer, pin, keycode, es,
invert)
self.printer.end_stops[es].stops = self.printer.config.get(
'Endstops', 'end_stop_' + es + '_stops')
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
if self.revision == "00A3":
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, "X")
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, "Y")
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z")
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, "E")
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, "H")
elif self.revision == "00B1":
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B2":
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B3":
printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90,
11, 0, "X")
printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91,
12, 1, "Y")
printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92,
13, 2, "Z")
printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93,
14, 3, "E")
printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94,
15, 4, "H")
elif self.revision in ["00A4", "0A4A"]:
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, 0, "X")
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, 1, "Y")
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, 2, "Z")
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, 3, "E")
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, 4, "H")
# Init Reach steppers, if present.
if printer.config.reach_revision == "00A0":
printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18",
"GPIO0_14", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5",
"GPIO0_14", 6, 6, "B")
printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19",
"GPIO0_14", 7, 7, "C")
elif printer.config.reach_revision == "00B0":
printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5",
"GPIO0_3", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14",
"GPIO0_3", 6, 6, "B")
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.direction = printer.config.getint('Steppers',
'direction_' + name)
stepper.has_endstop = printer.config.getboolean(
'Endstops', 'has_' + name)
stepper.set_current_value(
printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(
printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(
printer.config.getint("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_max_' + name)
slave = printer.config.get('Steppers', 'slave_' + name)
if slave:
Path.add_slave(name, slave)
logging.debug("Axis " + name + " has slave " + slave)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = [
"Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial",
"C_radial", "A_tangential", "B_tangential", "C_tangential"
]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: " + str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-" + str(i)))
logging.info("Found Cold end " + str(i) + " on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_" + e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_" + e)
chart = self.printer.config.get("Heaters", "temp_chart_" + e)
resistance = self.printer.config.getfloat("Heaters",
"resistance_" + e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET " + e, chart,
resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_' + e)
prefix = self.printer.config.get('Heaters', 'prefix_' + e)
if e != "HBP":
self.printer.heaters[e] = Extruder(self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e,
onoff)
else:
self.printer.heaters[e] = HBP(self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat(
'Heaters', 'pid_p_' + e)
self.printer.heaters[e].I = self.printer.config.getfloat(
'Heaters', 'pid_i_' + e)
self.printer.heaters[e].D = self.printer.config.getfloat(
'Heaters', 'pid_d_' + e)
# Min/max settings
self.printer.heaters[e].min_temp = self.printer.config.getfloat(
'Heaters', 'min_temp_' + e)
self.printer.heaters[e].max_temp = self.printer.config.getfloat(
'Heaters', 'max_temp_' + e)
self.printer.heaters[
e].max_temp_rise = self.printer.config.getfloat(
'Heaters', 'max_rise_temp_' + e)
self.printer.heaters[
e].max_temp_fall = self.printer.config.getfloat(
'Heaters', 'max_fall_temp_' + e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2", "00B3"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
if printer.config.reach_revision == "00A0":
self.printer.fans.append(Fan(14))
self.printer.fans.append(Fan(15))
self.printer.fans.append(Fan(7))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while (printer.config.has_option("Servos", "servo_" + str(servo_nr) +
"_enable")):
if printer.config.getboolean("Servos",
"servo_" + str(servo_nr) + "_enable"):
channel = printer.config.get(
"Servos", "servo_" + str(servo_nr) + "_channel")
pulse_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_min")
pulse_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_max")
angle_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_min")
angle_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_max")
angle_init = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_init")
s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max,
angle_init)
printer.servos.append(s)
logging.info("Added servo " + str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
continue
if printer.config.getboolean(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f),
True) # Use ON/OFF on these.
c.ok_range = 4
opt_temp = "therm-{}-fan-{}-target_temp".format(t, f)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(
t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "add-fan-{}-to-M106".format(i)):
continue
if self.printer.config.getboolean('Cold-ends',
"add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan,
"Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
opt_temp = "cooler_{}_target_temp".format(ce)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info(
"Cooler connects temp sensor ds18b20 {} with fan {}"
.format(ce, f))
# Init roatray encs.
printer.filament_sensors = []
# Init rotary encoders
printer.rotary_encoders = []
for ex in ["E", "H", "A", "B", "C"]:
if not printer.config.has_option('Rotary-encoders',
"enable-{}".format(ex)):
continue
if printer.config.getboolean("Rotary-encoders",
"enable-{}".format(ex)):
logging.debug("Rotary encoder {} enabled".format(ex))
event = printer.config.get("Rotary-encoders",
"event-{}".format(ex))
cpr = printer.config.getint("Rotary-encoders",
"cpr-{}".format(ex))
diameter = printer.config.getfloat("Rotary-encoders",
"diameter-{}".format(ex))
r = RotaryEncoder(event, cpr, diameter)
printer.rotary_encoders.append(r)
# Append as Filament Sensor
ext_nr = Path.axis_to_index(ex) - 3
sensor = FilamentSensor(ex, r, ext_nr, printer)
alarm_level = printer.config.getfloat(
"Filament-sensors", "alarm-level-{}".format(ex))
logging.debug("Alarm level" + str(alarm_level))
sensor.alarm_level = alarm_level
printer.filament_sensors.append(sensor)
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n" +
str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat(
'Planner', 'max_speed_' + axis.lower())
Path.min_speeds[i] = printer.config.getfloat(
'Planner', 'min_speed_' + axis.lower())
Path.jerks[i] = printer.config.getfloat('Planner',
'max_jerk_' + axis.lower())
Path.home_speed[i] = printer.config.getfloat(
'Homing', 'home_speed_' + axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat(
'Homing', 'home_backoff_speed_' + axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat(
'Homing', 'home_backoff_offset_' + axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter(
)
Path.backlash_compensation[i] = printer.config.getfloat(
'Steppers', 'backlash_' + axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.printer, "/usr/bin/pasm")
printer.move_cache_size = printer.config.getfloat(
'Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat(
'Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat(
'Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat(
'Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
Path.acceleration[Path.axis_to_index(
axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[
axis] = printer.config.getfloat('Geometry',
'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (
Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X', 'Y', 'Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[
axis] = printer.config.getfloat('Geometry',
'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] = (
Path.soft_min[i]
if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X', 'Y', 'Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat(
'Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[
axis] = printer.path_planner.center_offset[axis]
if axis in ['X', 'Y', 'Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning(
"Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta"
)
if center_default:
logging.warning(
"Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta"
)
if home_default:
logging.warning(
"Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az, Bz, Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz,
Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X', 'Y', 'Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s" %
str(printer.path_planner.home_pos))
# Enable Stepper timeout
timeout = printer.config.getint('Steppers', 'timeout_seconds')
printer.swd = StepperWatchdog(printer, timeout)
if printer.config.getboolean('Steppers', 'use_timeout'):
printer.swd.start()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning(
"Neither tty0tty or socat is installed! No virtual tty pipes enabled"
)
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
printer = Printer()
self.printer = printer
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
sys.exit() # maybe use something more graceful?
# Parse the config files.
printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
Path.set_axes(5)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "0A4A"
# We set it to 5 axis by default
Path.set_axes(5)
if self.printer.config.reach_revision:
Path.set_axes(8)
logging.info("Found Reach rev. "+self.printer.config.reach_revision)
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2"]:
PWM.set_frequency(1000)
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
for es in ["X1", "X2", "Y1", "Y2", "Z1", "Z2"]:
pin = self.printer.config.get("Endstops", "pin_"+es)
keycode = self.printer.config.getint("Endstops", "keycode_"+es)
invert = self.printer.config.getboolean("Endstops", "invert_"+es)
self.printer.end_stops[es] = EndStop(pin, keycode, es, invert)
# Backwards compatibility with A3
if self.revision == "00A3":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H", 4, 4)
elif self.revision == "00B1":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4)
elif self.revision == "00B2":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4)
else:
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H", 4, 4)
if printer.config.reach_revision:
printer.steppers["A"] = Stepper_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A", 5, 5)
printer.steppers["B"] = Stepper_00A4("GPIO1_14", "GPIO0_5" , "GPIO0_14", 6, 6, "B", 6, 6)
printer.steppers["C"] = Stepper_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C", 7, 7)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(printer.config.getboolean("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: "+str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-"+str(i)))
logging.info("Found Cold end "+str(i)+" on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_"+e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_"+e)
chart = self.printer.config.get("Heaters", "temp_chart_"+e)
resistance = self.printer.config.getfloat("Heaters", "resistance_"+e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart, resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e)
prefix = self.printer.config.get('Heaters', 'prefix_'+e)
if e != "HBP":
self.printer.heaters[e] = Extruder(
self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e, onoff)
else:
self.printer.heaters[e] = HBP(
self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e)
self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e)
self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")):
if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"):
channel = printer.config.get("Servos", "servo_"+str(servo_nr)+"_channel")
angle_init = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_init")
s = Servo(channel, 0.1, 0.2, angle_init)
printer.servos.append(s)
logging.info("Added servo "+str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), False)
c.ok_range = 4
c.set_target_temperature(60)
c.enable()
self.printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan, "Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
c.set_target_temperature(60)
c.enable()
self.printer.coolers.append(c)
logging.info("Cooler connects temp sensor ds18b20 {} with fan {}".format(ce, f))
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower())
Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter()
Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(
dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.revision, self.printer.config, "/usr/bin/pasm")
printer.maxJerkXY = printer.config.getfloat('Planner', 'maxJerk_xy')
printer.maxJerkZ = printer.config.getfloat('Planner', 'maxJerk_z')
printer.maxJerkEH = printer.config.getfloat('Planner', 'maxJerk_eh')
printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
printer.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X','Y','Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X','Y','Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis]
if axis in ['X','Y','Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
if Path.axis_config == Path.AXIS_CONFIG_SCARA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a scara")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a scara")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
#A = printer.path_planner.home_pos['X']
#B = printer.path_planner.home_pos['Y']
#C = printer.path_planner.home_pos['Z']
#z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
#xyz = Scara.forward_kinematics(A, B, C) # effector position
# don't cpnvert home_pos to effector spac
# home offset is defined in cartesian space
xyz = np.array([printer.path_planner.home_pos['X'],printer.path_planner.home_pos['Y'],printer.path_planner.home_pos['Z']])
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
#xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_enabled()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")