def main():
fan1 = Fan(Fan.FAST, True, 10, "yellow")
fan2 = Fan(Fan.MEDIUM, False, 5, "blue")
print(f"For fan1: Speed = {fan1.getSpeed()}, Radius = {fan1.getRadius()}"\
f", Color: {fan1.getColor()}, On = {fan1.getOn()}")
print(f"For fan1: Speed = {fan2.getSpeed()}, Radius = {fan2.getRadius()}"\
f", Color: {fan2.getColor()}, On = {fan2.getOn()}")
def __init__(self):
self._logger = Logger("Thermostat",
lvl=Logger.INFO,
file="/home/pi/MVP/logs/state.log")
self._logger.debug("initialize Thermostat object")
self._temp = SI7021(self._logger)
self._fan = Fan(self._logger)
class Thermostat(object):
"""Code associated with the thermostat controller"""
def __init__(self):
self._logger = Logger("Thermostat",
lvl=Logger.INFO,
file="/home/pi/MVP/logs/state.log")
self._logger.debug("initialize Thermostat object")
self._temp = SI7021(self._logger)
self._fan = Fan(self._logger)
def check(self, temp=None):
"""Adjust the fan depending upon the temperature
Args:
temp: optional test temperature
Returns:
None
Raises:
None
"""
if temp == None:
temp = self._temp.get_tempC()
# Get target temperature from file
target_temp = env['thermostat']['targetTemp']
msg = "{} {} {} {}".format("Temp:", temp, " Target Temp:", target_temp)
self._logger.debug(msg)
if temp > target_temp:
self._fan.set(Fan.ON)
else:
self._fan.set(Fan.OFF)
class CO2_stat(object):
"""Code associated with the thermostat controller"""
def __init__(self):
self.logger = Logger("CO2_stat")
self.logger.debug("initialize CO2 controller object")
self._co2 = SCD30(self.logger)
self._fan = Fan(self.logger)
def check(self, co2=None, test=False):
"""Adjust the fan depending upon the CO2
Args:
temp: optional test CO2
Returns:
None
Raises:
None
"""
target_co2 = TARGET_CO2
if co2 == None:
co2, temp, rh = self._co2.get_data()
msg = "{} {} {} {}".format("CO2:", co2, " Target CO2:", target_co2)
# Get target temperature from file
self.logger.info(msg)
if co2 > target_co2:
self._fan.set(Fan.ON)
else:
self._fan.set(Fan.OFF)
def __init__(self, data, scheduler):
threading.Thread.__init__(self)
self.status = Control.State.off
self.data = data
self.scheduler = scheduler
self.run_optional = False
self.fans = {
Control.fan_in1: Fan(CONFIG.Fans.fan_in1, delay=15),
Control.fan_in2: Fan(CONFIG.Fans.fan_in2, delay=10),
Control.fan_out: Fan(CONFIG.Fans.fan_out, delay=5),
Control.fan_box: Fan(CONFIG.Fans.fan_box, delay=0)
}
self._running = True
def adjust_thermostat(temp=None, test=False):
"""Adjust the fan depending upon the temperature
Args:
temp: current temperature; in None, get from sensor
Returns:
None
Raises:
None
"""
if temp == None:
temp_sensor = SI7021()
temp = temp_sensor.get_tempC()
fan = Fan()
fan.adjust(temp, test)
def adjust_thermostat(temp=None, test=False):
"""Adjust the fan depending upon the temperature
Args:
temp: current temperature; in None, get from sensor
Returns:
None
Raises:
None
"""
if temp == None:
sensor = TempSensor()
temp = sensor.check_temperature()
fan = Fan()
fan.adjust(temp, test)
def fan_operations():
content=request.json
if request.method == 'PUT':
index = content['index']
max_speed = content['max_speed']
fans[index].set_max_rpm(max_speed)
return 'Fan Speed Updated'
if request.method == 'GET':
return jsonify([f.serialize() for f in fans])
if request.method == 'POST':
max_speed = content['max_speed']
new_fan = Fan(monitor, len(fans), max_speed)
fans.append(new_fan)
return "Succesfully created fan ", len(fans)-1
from Fan import Fan
fan1 = Fan(3, 10, "yellow", True)
fan2 = Fan(2, 5, "blue", False)
print("fan1's speed is", fan1.getSpeed(), "radius is", fan1.getRadius(),
"color is", fan1.getColor(), "on is", fan1.getOn())
print("fan2's speed is", fan2.getSpeed(), "radius is", fan2.getRadius(),
"color is", fan2.getColor(), "on is", fan2.getOn())
def main():
# 객체1 : fan1
fan1 = Fan()
# 객체2 : fan2
fan2 = Fan()
# fan1의 속성 변경
# 속도 = 가장 빠름
# 색상 = 노랑
# 전원 = 켜짐
fan1.setSpeed(fan1.FAST)
fan1.setRadius(10.0)
fan1.setColor("Yellow")
fan1.setOn(True)
# fan2의 속성 변경
# 속도 = 중간
# 색상 = 파랑
# 전원 = 꺼짐
fan2.setSpeed(fan2.MEDIUM)
fan2.setRadius(5.0)
fan2.setColor("Blue")
fan2.setOn(False)
# 결과 출력
print("**** 객체1 ****")
print("속도 :", fan1.getSpeed())
print("크기 :", fan1.getRadius())
print("색상 :", fan1.getColor())
print("전원 :", fan1.getOn())
print()
print()
print("**** 객체2 ****")
print("속도 :", fan2.getSpeed())
print("크기 :", fan2.getRadius())
print("색상 :", fan2.getColor())
print("전원 :", fan2.getOn())
def __init__(self):
logging.info("Redeem initializing "+version)
self.printer = Printer()
# Parse the config
self.printer.config = CascadingConfigParser(['/etc/redeem/default.cfg', '/etc/redeem/local.cfg'])
# Get the revision from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
logging.info("Replicape revision "+self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops","inputdev");
if self.revision == "A4":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4" , 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0,0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1,1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2,2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", None,3,3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", None,4,4)
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(self.printer.config.getfloat('Steppers', 'current_'+name))
if self.printer.config.getboolean('Steppers', 'enabled_'+name):
stepper.set_enabled()
else:
stepper.set_disabled()
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.printer.config.getint('Steppers', 'microstepping_'+name))
stepper.direction = self.printer.config.getint('Steppers', 'direction_'+name)
stepper.set_decay(self.printer.config.getboolean("Steppers", "slow_decay_"+name))
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 1"))
logging.info("Found Cold end on "+path)
else:
logging.info("No cold end present in path: "+path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(4)
mosfet_hbp = Mosfet(5)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].set_p_value(self.printer.config.getfloat('Heaters', "ext1_pid_p"))
self.printer.heaters['E'].set_d_value(self.printer.config.getfloat('Heaters', "ext1_pid_d"))
self.printer.heaters['E'].set_i_value(self.printer.config.getfloat('Heaters', "ext1_pid_i"))
self.printer.heaters['E'].ok_range = self.printer.config.getfloat('Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].set_p_value(self.printer.config.getfloat('Heaters', "hbp_pid_p"))
self.printer.heaters['HBP'].set_d_value(self.printer.config.getfloat('Heaters', "hbp_pid_i"))
self.printer.heaters['HBP'].set_i_value(self.printer.config.getfloat('Heaters', "hbp_pid_d"))
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat('Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].set_p_value(self.printer.config.getfloat('Heaters', "ext2_pid_p"))
self.printer.heaters['H'].set_d_value(self.printer.config.getfloat('Heaters', "ext2_pid_i"))
self.printer.heaters['H'].set_i_value(self.printer.config.getfloat('Heaters', "ext2_pid_d"))
self.printer.heaters['H'].ok_range = self.printer.config.getfloat('Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans=[]
if self.revision == "A3":
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
self.printer.fans.append(Fan(0))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Virtual TTY
self.pipe = Pipe(self.commands)
#self.pipe.set_send_reponse(False)
self.ethernet = Ethernet(self.commands)
# Init the path planner
Path.axis_config = int(self.printer.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed_x = float(self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed_y = float(self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed_z = float(self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed_e = float(self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed_h = float(self.printer.config.get('Steppers', 'home_speed_h'))
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")
self.printer.path_planner = PathPlanner(self.printer.steppers, pru_firmware)
self.printer.path_planner.set_acceleration(float(self.printer.config.get('Steppers', 'acceleration')))
travel={}
offset={}
for axis in ['X','Y','Z']:
travel[axis] = self.printer.config.getfloat('Geometry', 'travel_'+axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry', 'offset_'+axis.lower())
self.printer.path_planner.set_travel_length(travel)
self.printer.path_planner.set_center_offset(offset)
self.printer.processor = GCodeProcessor(self.printer);
# After the firmwares are loaded, the endstop states can be updated.
for k, endstop in self.printer.end_stops.iteritems():
logging.debug("Endstop "+endstop.name+" hit? : "+ str(endstop.read_value()))
self.running = True
# Signal everything ready
logging.info("Redeem ready")
from Fan import Fan # Fan 파일에서 Fan 클래스 import fan1 = Fan(Fan.FAST, 10, "yellow", True) # fan1 객체 생성 fan2 = Fan(Fan.MEDIUM, 5, "blue", False) # fan2 객체 생성 fan1.print() fan2.print() # fan1, fan2 객체의 필드 값 출력
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config files.
self.printer.config = CascadingConfigParser([
'/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'
])
# Get the revision and loglevel from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
if self.revision == "A4" or self.revision == "A4A":
self.printer.end_stops["X1"] = EndStop(
"GPIO3_21", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO0_30", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO1_17", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO1_19", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_31", 123, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop(
"GPIO0_14", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO3_21", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO2_2", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO0_31", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_30", 123, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "E", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "H", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
stepper.in_use = self.printer.config.getboolean(
'Steppers', 'in_use_' + name)
stepper.set_steps_pr_mm(
self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(
self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint(
'Steppers', 'direction_' + name)
stepper.set_decay(
self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
stepper.has_endstop = self.printer.config.getboolean(
'Endstops', 'has_' + name)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(
path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(
path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(
path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters', "ext2_temp_chart"))
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)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(5)
mosfet_hbp = Mosfet(4)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(
self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].P = self.printer.config.getfloat(
'Heaters', "ext1_pid_p")
self.printer.heaters['E'].I = self.printer.config.getfloat(
'Heaters', "ext1_pid_i")
self.printer.heaters['E'].D = self.printer.config.getfloat(
'Heaters', "ext1_pid_d")
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(
therm_hbp, mosfet_hbp,
self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].P = self.printer.config.getfloat(
'Heaters', "hbp_pid_p")
self.printer.heaters['HBP'].I = self.printer.config.getfloat(
'Heaters', "hbp_pid_i")
self.printer.heaters['HBP'].D = self.printer.config.getfloat(
'Heaters', "hbp_pid_d")
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(
self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].P = self.printer.config.getfloat(
'Heaters', "ext2_pid_p")
self.printer.heaters['H'].I = self.printer.config.getfloat(
'Heaters', "ext2_pid_i")
self.printer.heaters['H'].D = self.printer.config.getfloat(
'Heaters', "ext2_pid_d")
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# 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.unbuffered_commands = JoinableQueue(10)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speeds[0] = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speeds[1] = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speeds[2] = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speeds[3] = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speeds[4] = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed[0] = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed[1] = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed[2] = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed[3] = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed[4] = float(
self.printer.config.get('Steppers', 'home_speed_h'))
Path.steps_pr_meter[0] = self.printer.steppers["X"].get_steps_pr_meter(
)
Path.steps_pr_meter[1] = self.printer.steppers["Y"].get_steps_pr_meter(
)
Path.steps_pr_meter[2] = self.printer.steppers["Z"].get_steps_pr_meter(
)
Path.steps_pr_meter[3] = self.printer.steppers["E"].get_steps_pr_meter(
)
Path.steps_pr_meter[4] = self.printer.steppers["H"].get_steps_pr_meter(
)
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")
self.printer.maxJerkXY = float(
self.printer.config.get('Steppers', 'maxJerk_xy'))
self.printer.maxJerkZ = float(
self.printer.config.get('Steppers', 'maxJerk_z'))
self.printer.maxJerkEH = float(
self.printer.config.get('Steppers', 'maxJerk_eh'))
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
travel = {}
offset = {}
i = 0
for axis in ['X', 'Y', 'Z', 'E', 'H']:
travel[axis] = self.printer.config.getfloat(
'Geometry', 'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat(
'Geometry', 'offset_' + axis.lower())
self.printer.acceleration[i] = self.printer.config.getfloat(
'Steppers', 'acceleration_' + axis.lower())
i += 1
self.printer.path_planner.travel_length = travel
self.printer.path_planner.center_offset = offset
self.printer.processor = GCodeProcessor(self.printer)
# Set up communication channels
self.printer.comms["USB"] = USB(self.printer)
self.printer.comms["Eth"] = Ethernet(self.printer)
self.printer.comms["octoprint"] = Pipe(
self.printer, "octoprint") # Pipe for Octoprint
self.printer.comms["toggle"] = Pipe(self.printer,
"toggle") # Pipe for Toggle
self.printer.comms["testing"] = Pipe(self.printer,
"testing") # Pipe for testing
self.printer.comms["testing_noret"] = Pipe(
self.printer, "testing_noret") # Pipe for testing
self.printer.comms["testing_noret"].send_response = False
self.running = True
# Start the two processes
p0 = Thread(target=self.loop, args=(self.printer.commands, "buffered"))
p1 = Thread(target=self.loop,
args=(self.printer.unbuffered_commands, "unbuffered"))
p0.daemon = True
p1.daemon = True
p0.start()
p1.start()
# Signal everything ready
logging.info("Redeem ready")
# Wait for exit signal
p0.join()
p1.join()
def adjustThermostat(temp=None, test=False):
if temp == None:
si = si7021()
temp = si.getTempC()
fan = Fan()
fan.adjust(temp, test)
def main():
f = Fan(FAST)
# f1 = Fan(FAST, 10, "yellow", True)
print(f.getState())
def main():
fan1 = Fan(3, 10,"yellow", True)
fan2 = Fan(2, 5, "blue", False)
print("Fan1................")
print("Speed: ", fan1.getSpeed())
print("Power On/Off: ", fan1.getOn())
print("Fan Radius: ", fan1.getRadius())
print("Fan Color: ", fan1.getColor())
print("Fan2................")
print("Speed: ", fan2.getSpeed())
print("Power On/Off: ", fan2.getOn())
print("Fan Radius: ", fan2.getRadius())
print("Fan Color: ", fan2.getColor())
from Fan import Fan
blue_fan = Fan()
ask_color = input("Please select a color for your fan\n"
"1 - blue\n2 - red\n3 - black\n")
if ask_color == 1:
Fan.set_color(blue_fan, 'blue')
elif ask_color == 2:
Fan.set_color(blue_fan, 'red')
elif ask_color == 3:
Fan.set_color(blue_fan, 'black')
else:
print("Fail.")
ask_speed = input("Please select the speed of the fan\n"
"1 - Slow\n2 - Medium\n3 - Fast\n")
if ask_speed == 1:
Fan.set_speed(blue_fan, 'slow')
elif ask_speed == 2:
Fan.set_speed(blue_fan, 'medium')
elif ask_speed == 3:
Fan.set_speed(blue_fan, 'fast')
else:
print("You suck at life.")
ask_on_or_off = input("Is the fan on or off?\n" "1 - True\n2 - False\n")
if ask_on_or_off == 1:
Fan.set_on(blue_fan, True)
elif ask_on_or_off == 2:
def __init__(self):
# Init the IO library
io.bbio_init()
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors
self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A?
self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y")
self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z")
self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1")
self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
self.steppers["X"].setCurrentValue(1.0) # 2A
self.steppers["X"].setEnabled()
self.steppers["X"].set_steps_pr_mm(6.105)
self.steppers["X"].set_microstepping(2)
self.steppers["Y"].setCurrentValue(1.0) # 2A
self.steppers["Y"].setEnabled()
self.steppers["Y"].set_steps_pr_mm(5.95)
self.steppers["Y"].set_microstepping(2)
self.steppers["Z"].setCurrentValue(1.0) # 2A
self.steppers["Z"].setEnabled()
self.steppers["Z"].set_steps_pr_mm(155)
self.steppers["Z"].set_microstepping(2)
self.steppers["E"].setCurrentValue(1.0) # 2A
self.steppers["E"].setEnabled()
self.steppers["E"].set_steps_pr_mm(5.0)
self.steppers["E"].set_microstepping(2)
# init the 3 thermistors
self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD")
self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1
self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1
self.mosfet_ext2 = Mosfet(io.PWM2A) #
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1)
self.ext1.setPvalue(0.5)
self.ext1.setDvalue(0.1)
self.ext1.setIvalue(0.001)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(3)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
# Make a queue of commands
self.commands = Queue.Queue()
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Get all options
self.options = Options()
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
self.acceleration = 300.0/1000.0
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
logging.debug("Debug prints to console")
class Replicape:
''' Init '''
def __init__(self):
# Init the IO library
io.bbio_init()
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors
self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A?
self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y")
self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z")
self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1")
self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
self.steppers["X"].setCurrentValue(1.0) # 2A
self.steppers["X"].setEnabled()
self.steppers["X"].set_steps_pr_mm(6.105)
self.steppers["X"].set_microstepping(2)
self.steppers["Y"].setCurrentValue(1.0) # 2A
self.steppers["Y"].setEnabled()
self.steppers["Y"].set_steps_pr_mm(5.95)
self.steppers["Y"].set_microstepping(2)
self.steppers["Z"].setCurrentValue(1.0) # 2A
self.steppers["Z"].setEnabled()
self.steppers["Z"].set_steps_pr_mm(155)
self.steppers["Z"].set_microstepping(2)
self.steppers["E"].setCurrentValue(1.0) # 2A
self.steppers["E"].setEnabled()
self.steppers["E"].set_steps_pr_mm(5.0)
self.steppers["E"].set_microstepping(2)
# init the 3 thermistors
self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD")
self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1
self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1
self.mosfet_ext2 = Mosfet(io.PWM2A) #
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1)
self.ext1.setPvalue(0.5)
self.ext1.setDvalue(0.1)
self.ext1.setIvalue(0.001)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(3)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
# Make a queue of commands
self.commands = Queue.Queue()
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Get all options
self.options = Options()
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
self.acceleration = 300.0/1000.0
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
logging.debug("Debug prints to console")
''' When a new gcode comes in, excute it '''
def loop(self):
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
self.usb.send_message(gcode.getAnswer())
self.commands.task_done()
except KeyboardInterrupt:
print "Caught signal, exiting"
return
finally:
self.ext1.disable()
self.hbp.disable()
self.usb.close()
self.path_planner.exit()
logging.debug("Done")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
feed_rate = float(g.getValueByLetter("F"))
g.removeTokenByLetter("F")
else: # If no feed rate is set in the command, use the default.
feed_rate = self.feed_rate
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, feed_rate, self.movement) # Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE") # Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G29":
print self.current_pos
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
if g.numTokens() == 0:
g.setTokens(["X0", "Y0", "Z0", "E0"]) # If no token is present, do this for all
for i in range(g.numTokens()):
axis = g.tokenLetter(i)
val = float(g.tokenValue(i))
self.path_planner.set_pos(axis, val)
elif g.code() == "M17": # Enable all steppers
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
answer += " B:"+str(int(self.hbp.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(100)
fan.setValue(float(g.getValueByLetter("S")))
else:
self.fan_1.setPWMFrequency(100)
self.fan_1.setValue(float(g.tokenValue(0)))
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
else:
print "Unknown command: "+g.message
def main():
fan1 = Fan(Fan.FAST, True, 10, "Yellow")
fan2 = Fan(Fan.MEDIUM, False, 5, "Blue")
print("Fan 1 speed:", fan1.getSpeed())
print("Fan 1 radius:", fan1.getRadius())
print("Fan 1 color:", fan1.getColor())
print("Fan 1 on:", fan1.getOn())
blankLine()
print("Fan 2 speed:", fan2.getSpeed())
print("Fan 2 radius:", fan2.getRadius())
print("Fan 2 color:", fan2.getColor())
print("Fan 2 on:", fan2.getOn())
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config files.
self.printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Get the revision and loglevel from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev");
if self.revision == "A4" or self.revision == "A4A":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1",
self.printer.config.getboolean(
"Endstops",
"invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2",
self.printer.config.getboolean(
"Endstops",
"invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1",
self.printer.config.getboolean(
"Endstops",
"invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2",
self.printer.config.getboolean(
"Endstops",
"invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 123, "Z1",
self.printer.config.getboolean(
"Endstops",
"invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2",
self.printer.config.getboolean(
"Endstops",
"invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1",
self.printer.config.getboolean(
"Endstops",
"invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2",
self.printer.config.getboolean(
"Endstops",
"invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1",
self.printer.config.getboolean(
"Endstops",
"invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2",
self.printer.config.getboolean(
"Endstops",
"invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 123, "Z1",
self.printer.config.getboolean(
"Endstops",
"invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2",
self.printer.config.getboolean(
"Endstops",
"invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "E", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "H", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
stepper.in_use = self.printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint('Steppers',
'direction_' + name)
stepper.set_decay(self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
stepper.has_endstop = self.printer.config.getboolean('Endstops',
'has_' + name)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters',
"ext1_temp_chart"))
therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters',
"hbp_temp_chart"))
therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters',
"ext2_temp_chart"))
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)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(5)
mosfet_hbp = Mosfet(4)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"],
therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean(
'Heaters',
'ext1_onoff_control'))
self.printer.heaters['E'].P = self.printer.config.getfloat('Heaters',
"ext1_pid_p")
self.printer.heaters['E'].I = self.printer.config.getfloat('Heaters',
"ext1_pid_i")
self.printer.heaters['E'].D = self.printer.config.getfloat('Heaters',
"ext1_pid_d")
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(therm_hbp, mosfet_hbp,
self.printer.config.getboolean(
'Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].P = self.printer.config.getfloat('Heaters',
"hbp_pid_p")
self.printer.heaters['HBP'].I = self.printer.config.getfloat('Heaters',
"hbp_pid_i")
self.printer.heaters['HBP'].D = self.printer.config.getfloat('Heaters',
"hbp_pid_d")
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"],
therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean(
'Heaters',
'ext2_onoff_control'))
self.printer.heaters['H'].P = self.printer.config.getfloat('Heaters',
"ext2_pid_p")
self.printer.heaters['H'].I = self.printer.config.getfloat('Heaters',
"ext2_pid_i")
self.printer.heaters['H'].D = self.printer.config.getfloat('Heaters',
"ext2_pid_d")
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# 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.unbuffered_commands = JoinableQueue(10)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speeds[0] = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speeds[1] = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speeds[2] = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speeds[3] = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speeds[4] = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed[0] = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed[1] = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed[2] = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed[3] = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed[4] = float(
self.printer.config.get('Steppers', 'home_speed_h'))
Path.steps_pr_meter[0] = self.printer.steppers[
"X"].get_steps_pr_meter()
Path.steps_pr_meter[1] = self.printer.steppers[
"Y"].get_steps_pr_meter()
Path.steps_pr_meter[2] = self.printer.steppers[
"Z"].get_steps_pr_meter()
Path.steps_pr_meter[3] = self.printer.steppers[
"E"].get_steps_pr_meter()
Path.steps_pr_meter[4] = self.printer.steppers[
"H"].get_steps_pr_meter()
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")
self.printer.maxJerkXY = float(
self.printer.config.get('Steppers', 'maxJerk_xy'));
self.printer.maxJerkZ = float(
self.printer.config.get('Steppers', 'maxJerk_z'));
self.printer.maxJerkEH = float(
self.printer.config.get('Steppers', 'maxJerk_eh'));
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
travel = {}
offset = {}
i = 0
for axis in ['X', 'Y', 'Z', 'E', 'H']:
travel[axis] = self.printer.config.getfloat('Geometry',
'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry',
'offset_' + axis.lower())
self.printer.acceleration[i] = self.printer.config.getfloat('Steppers', 'acceleration_' + axis.lower())
i += 1
self.printer.path_planner.travel_length = travel
self.printer.path_planner.center_offset = offset
self.printer.processor = GCodeProcessor(self.printer)
# Set up communication channels
self.printer.comms["USB"] = USB(self.printer)
self.printer.comms["Eth"] = Ethernet(self.printer)
self.printer.comms["octoprint"] = Pipe(self.printer,
"octoprint") # Pipe for Octoprint
self.printer.comms["toggle"] = Pipe(self.printer,
"toggle") # Pipe for Toggle
self.printer.comms["testing"] = Pipe(self.printer,
"testing") # Pipe for testing
self.printer.comms["testing_noret"] = Pipe(self.printer,
"testing_noret") # Pipe for testing
self.printer.comms["testing_noret"].send_response = False
self.running = True
# Start the two processes
p0 = Thread(target=self.loop,
args=(self.printer.commands, "buffered"))
p1 = Thread(target=self.loop,
args=(self.printer.unbuffered_commands, "unbuffered"))
p0.daemon = True
p1.daemon = True
p0.start()
p1.start()
# Signal everything ready
logging.info("Redeem ready")
# Wait for exit signal
p0.join()
p1.join()
def __init__(self):
logging.info("Replicape initializing " + version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(
self.config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(
self.config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
self.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
self.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
"B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
"B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
"B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1(
"/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1,
self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP(self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2,
self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1: self.fan_2, 2: self.fan_3}
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0, "H": 0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
from Fan import Fan #create two Fan objects f1 = Fan(3, 10, "yellow", True) f2 = Fan(2) print(f1) print(f2)
def __init__(self):
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config
self.printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/local.cfg'])
# Get the revision from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
if self.revision == "A4":
self.printer.end_stops["X1"] = EndStop(
"GPIO3_21", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO0_30", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO1_17", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO1_19", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_31", 116, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop(
"GPIO0_14", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO3_21", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO2_2", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO0_31", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_30", 116, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "Ext1", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "Ext2", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
if self.printer.config.getboolean('Steppers', 'enabled_' + name):
stepper.set_enabled()
else:
stepper.set_disabled()
stepper.set_steps_pr_mm(
self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(
self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint(
'Steppers', 'direction_' + name)
stepper.set_decay(
self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(
path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(
path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(
path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 1"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(4)
mosfet_hbp = Mosfet(5)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(
self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].set_p_value(
self.printer.config.getfloat('Heaters', "ext1_pid_p"))
self.printer.heaters['E'].set_d_value(
self.printer.config.getfloat('Heaters', "ext1_pid_d"))
self.printer.heaters['E'].set_i_value(
self.printer.config.getfloat('Heaters', "ext1_pid_i"))
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(
therm_hbp, mosfet_hbp,
self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].set_p_value(
self.printer.config.getfloat('Heaters', "hbp_pid_p"))
self.printer.heaters['HBP'].set_d_value(
self.printer.config.getfloat('Heaters', "hbp_pid_i"))
self.printer.heaters['HBP'].set_i_value(
self.printer.config.getfloat('Heaters', "hbp_pid_d"))
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(
self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].set_p_value(
self.printer.config.getfloat('Heaters', "ext2_pid_p"))
self.printer.heaters['H'].set_d_value(
self.printer.config.getfloat('Heaters', "ext2_pid_i"))
self.printer.heaters['H'].set_i_value(
self.printer.config.getfloat('Heaters', "ext2_pid_d"))
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
self.printer.fans.append(Fan(0))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Virtual TTY
self.pipe = Pipe(self.commands)
#self.pipe.set_send_reponse(False)
self.ethernet = Ethernet(self.commands)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed_x = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed_y = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed_z = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed_e = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed_h = float(
self.printer.config.get('Steppers', 'home_speed_h'))
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")
self.printer.path_planner = PathPlanner(self.printer.steppers,
pru_firmware)
self.printer.path_planner.set_acceleration(
float(self.printer.config.get('Steppers', 'acceleration')))
travel = {}
offset = {}
for axis in ['X', 'Y', 'Z']:
travel[axis] = self.printer.config.getfloat(
'Geometry', 'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat(
'Geometry', 'offset_' + axis.lower())
self.printer.path_planner.set_travel_length(travel)
self.printer.path_planner.set_center_offset(offset)
self.printer.processor = GCodeProcessor(self.printer)
# After the firmwares are loaded, the endstop states can be updated.
for k, endstop in self.printer.end_stops.iteritems():
logging.debug("Endstop " + endstop.name + " hit? : " +
str(endstop.read_value()))
self.running = True
# Signal everything ready
logging.info("Redeem ready")
screen_size = (1280, 665)
screen = pygame.display.set_mode(screen_size)
background_image = pygame.image.load("soccer2.jpg")
#player_image = pygame.image.load("soccer_player.png")
# soccer_ball = pygame.image.load("soccer_ball.png")
pygame.display.set_caption("Soccer Game!")
pygame.mixer.music.load("music.wav")
pygame.mixer.music.play(-1)
FPS = 60
player = Player(screen)
defense = Defense(screen)
ball = Ball(screen)
fan = Fan(screen)
players = Group()
players.add(player)
balls = Group()
balls.add(ball)
defenses = Group()
defenses.add(defense)
cups = Group()
ball_place = True
score = 2
black = (0, 0, 0)
#ball_rect = pygame.Rect(ball.x, ball.y, ball.width, ball.height)
def __init__(self):
self.logger = Logger("CO2_stat")
self.logger.debug("initialize CO2 controller object")
self._co2 = SCD30(self.logger)
self._fan = Fan(self.logger)
formatter = logging.Formatter('%(asctime)s %(name)-12s %(levelname)-8s %(message)s')
filehandle.setFormatter(formatter)
logger.addHandler(filehandle)
logger.info("Sample log")
if fan_upper_bound < no_fan or subsystem_upper_bound<no_subsystem:
logger.error("Server startup fail: Limit exceeds the upper bound")
print("System can not start: Check log file")
exit()
for i in range(no_subsystem):
subsystem=Subsystem(monitor, i)
subsystems.append(subsystem)
for i in range(no_fan):
fan=Fan(monitor, i, 130)
fans.append(fan)
app=Flask(__name__)
@app.route('/fan',methods=['GET','POST','PUT'])
def fan_operations():
content=request.json
if request.method == 'PUT':
index = content['index']
max_speed = content['max_speed']
fans[index].set_max_rpm(max_speed)
return 'Fan Speed Updated'
if request.method == 'GET':
class Interface(object):
def __init__(self):
self.i2cbus = SMBus(1)
self.oled = ssd1306(self.i2cbus)
self.font = ImageFont.truetype('/home/pi/Code/FreeSans.ttf', 10)
self.font2 = ImageFont.truetype('/home/pi/Code/FreeSans.ttf', 11)
self.font3 = ImageFont.truetype('/home/pi/Code/FreeSans.ttf', 18)
self.font4 = ImageFont.truetype('/home/pi/Code/FreeSans.ttf', 36)
self.disp = self.oled.canvas
self.padding = 1
self.top = self.padding
self.bottom = self.oled.height - self.padding
self.left = self.padding
self.right = self.oled.width - self.padding
self.line1 = 17
self.line2 = 29
self.line3 = 41
self.line4 = 53
self.lines = [self.line1, self.line2, self.line3, self.line4]
self.column1 = self.left + 2
self.column2 = self.left + 64
self.column3 = self.right - 44
self.selector = 0
self.interfaces = []
self.currentMenu = None
self.b = None
self.busy = False
self.exit = False
self.lock = Lock()
self.stepsPerDeg = 1
self.stepsPerUnit = 1
self.motorStepTime = 0.01
self.sequenceStartTime = 0
self.timeStamp = 0
self.lastRun = 0
self.xEvent = threading.Event()
self.rEvent = threading.Event()
return
#Define pin inputs and outputs
def setControls(self, enter, go, LED, up, down):
self.enterButt = enter
self.goButt = go
self.buttLED = LED
#Button Indicator Settings
self.buttLEDfreq = 1
self.buttDuty = 25
#Pin assignments
GPIO.setup(self.buttLED, GPIO.OUT)
GPIO.setup(self.goButt, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(self.enterButt, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(self.goButt,
GPIO.FALLING,
callback=self.goSTART,
bouncetime=500)
GPIO.add_event_detect(self.enterButt,
GPIO.FALLING,
callback=self.selectButt,
bouncetime=500)
self.encoder = RotaryEncoder(up, down, self.decode)
self.buttON(True)
time.sleep(0.125)
self.buttON(False)
time.sleep(0.125)
self.buttON(True)
time.sleep(0.125)
self.buttON(False)
return
#Calibrate the Motors
def homeMotors(self):
self.fan(True)
self.xMotor.calibrate()
#self.rMotor.calibrate()
self.fan(True)
return
#Define the fan pins
def setFan(self, pin):
self.blower = Fan(pin, 100, 0.25, 120)
return
#Define Camera Trigger Pins
def setCamTrigger(self, half, full):
self.halfPress = half
self.fullPress = full
GPIO.setup(self.halfPress, GPIO.OUT)
GPIO.setup(self.fullPress, GPIO.OUT)
GPIO.output(self.halfPress, True)
GPIO.output(self.fullPress, True)
return
#Turn the button LED on or off (Button)
def buttON(self, val):
GPIO.output(self.buttLED, val)
return
#Create menu items
def populate(self):
self.main = Menu('Main Menu')
self.ready = Go('Capture')
self.preview = Go('Preview')
self.movement = Menu('Movement')
self.displacement = Menu('Displacement')
self.time = Menu('Time')
self.drive = Menu('Drive')
self.translation = Menu('Translation')
self.rotation = Menu('Rotation')
self.initPos = Menu('Initial Positions')
self.travDir = Menu('Travel Directions')
self.camera = Menu('Camera')
self.calibrate = Menu('Calibrate')
self.manualControl = Menu('Manual Control')
self.freeMove = Action('User Control X')
self.freeRotate = Action('User Control R')
self.totalDisp = Option('Total Displace')
self.incDisp = Option('Increment')
self.totalRot = Option('Total Rotation')
self.incRot = Option('Increment')
self.initX = Option('Initial X-Position')
self.initR = Option('Initial R-Position')
self.travX = Option('Initial X-Direction')
self.travR = Option('Initial R-Direction')
self.tVal = Camera('Time Value') # Shutter speed of camera
self.nomages = Option('Images') # Number of images to capture
self.inter = Option('Interval') # Interval between shots in seconds
self.totalTime = Option(
'Total Time') # Total time of sequence in minutes
self.calTrans = Action('Translation')
self.calRot = Action('Rotation')
self.hold = Option('Holding Power')
self.main.setItems(self.ready, self.movement, self.time, self.drive)
self.main.pageInfo = 'Today'
self.movement.setItems(self.displacement, self.initPos, self.travDir,
self.main)
self.displacement.setItems(self.translation, self.rotation,
self.movement)
self.drive.setItems(self.calibrate, self.manualControl, self.hold,
self.main)
self.time.setItems(self.totalTime, self.inter, self.camera, self.main)
self.manualControl.setItems(self.freeMove, self.freeRotate, self.drive)
self.ready.setItems(self.preview, self.main)
self.ready.setHardware(self.xMotor, self.rMotor)
self.ready.setSubtitle('Shots')
self.preview.setItems(self.ready, self.main)
self.preview.setHardware(self.xMotor, self.rMotor)
self.preview.setSubtitle('Preview')
self.translation.setItems(self.totalDisp, self.incDisp, self.movement)
self.initPos.setItems(self.initX, self.initR, self.movement)
self.travDir.setItems(self.travX, self.travR, self.movement)
self.rotation.setItems(self.totalRot, self.incRot, self.movement)
self.camera.setItems(self.tVal, self.nomages, self.time)
self.calibrate.setItems(self.calTrans, self.calRot, self.drive)
self.freeMove.setItems(self.manualControl)
self.freeMove.setHardware(self.xMotor)
self.freeRotate.setItems(self.manualControl)
self.freeRotate.setHardware(self.rMotor)
self.hold.setItems(self.drive)
self.hold.hasRange(True)
self.hold.setRange(0, 2)
self.hold.hasAlternate(True)
self.hold.setAlternate('OFF', 'LOW', 'HIGH')
self.hold.setVal(1)
self.totalDisp.setItems(self.translation)
self.totalDisp.canZero(True)
self.totalDisp.setVal(10000)
self.totalDisp.setMultiplier(100)
self.incDisp.setItems(self.translation)
self.incDisp.canZero(True)
self.incDisp.setVal(1)
self.totalRot.setItems(self.rotation)
self.totalRot.canZero(True)
self.totalRot.setVal(90)
self.incRot.setItems(self.rotation)
self.incRot.canZero(True)
self.incRot.setVal(1)
self.totalTime.setItems(self.time)
self.totalTime.setVal(45)
self.inter.setItems(self.time)
self.inter.setVal(2)
self.tVal.setItems(self.camera)
self.tVal.setVal(0)
self.nomages.setItems(self.camera)
self.nomages.setVal(10)
self.calTrans.setItems(self.calibrate)
self.calTrans.setHardware(self.xMotor)
self.calRot.setItems(self.calibrate)
self.calRot.setHardware(self.rMotor)
self.travX.setItems(self.travDir)
self.travX.hasRange(True)
self.travX.setRange(0, 1)
self.travX.hasAlternate(True)
self.travX.setAlternate('FWD', 'REV')
self.travR.setItems(self.travDir)
self.travR.hasRange(True)
self.travR.setRange(0, 1)
self.travR.hasAlternate(True)
self.travR.setAlternate('FWD', 'REV')
self.initX.setItems(self.initPos)
self.initX.hasRange(True)
self.initX.setRange(self.xMotor.Limits[0], self.xMotor.Limits[1])
self.initX.setMultiplier(100)
self.initR.setItems(self.initPos)
self.initR.hasRange(True)
self.initR.setRange(self.rMotor.Limits[0], self.rMotor.Limits[1])
self.initR.setMultiplier(100)
self.currentMenu = self.main
return
#Turn the fan on or off (Boolean)
def fan(self, isOn):
if self.hold.getVal() == 2:
self.blower.on()
elif isOn:
self.blower.on()
elif ~isOn:
self.blower.off()
return
#Define pins and create translation motor object
def setTransMotor(self, pinA1, pinA2, pinB1, pinB2, pinENa, pinENb,
endButt, steps):
self.xMotor = Stepper(pinA1, pinA2, pinB1, pinB2, pinENa, pinENb,
endButt)
self.xMotor.invert()
self.xMotor.pwmHoldSet(1)
self.stepsPerUnit = steps
return
#Define pins and create rotation motor object
def setRotMotor(self, pinA1, pinA2, pinB1, pinB2, pinENa, pinENb, endButt,
steps):
self.rMotor = Stepper(pinA1, pinA2, pinB1, pinB2, pinENa, pinENb,
endButt)
self.stepsPerDeg = steps
return
#Set hard limits of displacement motor
def setTransLimits(self, min, max):
self.xMotor.setLimits(min, max)
return
#Set hard limits of rotational motor
def setRotLimits(self, min, max):
self.rMotor.setLimits(min, max)
return
#Update values of current menu
def updateInfo(self, val):
if type(self.currentMenu) is Option or type(
self.currentMenu) is Camera:
self.currentMenu.setVal(val)
self.disp.text((self.column3, self.top),
str(self.currentMenu.toString()[2]),
font=self.font,
fill=0)
self.disp.text((self.column3, self.top),
str(self.currentMenu.toString()[1]),
font=self.font,
fill=1)
if type(self.currentMenu) is Action or type(self.currentMenu) is Go:
self.currentMenu.setVal(val)
return
#Draw objects of the current menu
def draw(self):
self.disp.text((1, self.top),
self.currentMenu.title,
font=self.font,
fill=1)
#Populate the interface list with the current menu's items
try:
self.interfaces = self.currentMenu.getItems()
except:
print('Menu population error')
if type(self.currentMenu) is Menu:
self.updateInfo(self.toString())
for item in self.interfaces:
if item != None:
self.disp.text(
(self.column1,
self.lines[self.interfaces.index(item)]),
self.interfaces[self.interfaces.index(item)].title,
font=self.font2,
fill=1)
if self.interfaces[self.interfaces.index(
item)].getVal() != None:
self.disp.text(
(self.column3,
self.lines[self.interfaces.index(item)]),
self.interfaces[self.interfaces.index(
item)].toString()[2],
font=self.font2,
fill=0)
self.disp.text(
(self.column3,
self.lines[self.interfaces.index(item)]),
self.interfaces[self.interfaces.index(
item)].toString()[1],
font=self.font2,
fill=1)
#Display scheme for camera shutter speed selection menu
if type(self.currentMenu) is Option or type(
self.currentMenu) is Camera:
#Erase the previous display and write the new display
self.disp.text((self.column1, self.lines[1]),
self.currentMenu.toString()[2],
font=self.font4,
fill=0)
self.disp.text((self.column1, self.lines[1]),
self.currentMenu.toString()[1],
font=self.font4,
fill=1)
#Display scheme for Action menus
if type(self.currentMenu) is Action:
#Display info about the current menu functionality
self.disp.text((self.column1, self.lines[0]),
self.currentMenu.getSubtitle(),
font=self.font2,
fill=1)
#Erase the previous display and write the new display
self.disp.text((self.column1, self.lines[2]),
self.currentMenu.toString()[2],
font=self.font3,
fill=0)
self.disp.text((self.column1, self.lines[2]),
self.currentMenu.toString()[1],
font=self.font3,
fill=1)
#Display the 'Position' heading
self.disp.text((self.column2, self.lines[0]),
'Position',
font=self.font2,
fill=1)
#Erase the previous display and write the new display
self.disp.text((self.column2, self.lines[2]),
str(self.currentMenu.getPosition()[1]),
font=self.font3,
fill=0)
self.disp.text((self.column2, self.lines[2]),
str(self.currentMenu.getPosition()[0]),
font=self.font3,
fill=1)
#Display scheme for Capture menu
if type(self.currentMenu) is Go:
#self.updateInfo(self.currentMenu.getVal())
self.currentMenu.updatePosition()
#Display 'Shots Remaining' tag
self.disp.text((self.column1, self.lines[0]),
self.currentMenu.getSubtitle(),
font=self.font2,
fill=1)
#Display 'Time Remaining'
self.disp.text((self.column2, self.top),
self.currentMenu.getTimeString()[1],
font=self.font2,
fill=0)
self.disp.text((self.column2, self.top),
self.currentMenu.getTimeString()[0],
font=self.font2,
fill=1)
#Erase the previous display and write the new display (Shots Remaining)
self.disp.text((self.column1, self.lines[2]),
self.currentMenu.toString()[2],
font=self.font3,
fill=0)
self.disp.text((self.column1, self.lines[2]),
self.currentMenu.toString()[1],
font=self.font3,
fill=1)
#Display the 'Position' heading
self.disp.text((self.column2, self.lines[0]),
'Position',
font=self.font2,
fill=1)
#Erase the previous display and write the new display (xMotor)
self.disp.text((self.column2, self.lines[1]),
'X: ' + str(self.currentMenu.getPosition(0)[1]),
font=self.font2,
fill=0)
self.disp.text((self.column2, self.lines[1]),
'X: ' + str(self.currentMenu.getPosition(0)[0]),
font=self.font2,
fill=1)
#Erase the previous display and write the new display (rMotor)
self.disp.text((self.column2, self.lines[2]),
'R: ' + str(self.currentMenu.getPosition(1)[1]),
font=self.font2,
fill=0)
self.disp.text((self.column2, self.lines[2]),
'R: ' + str(self.currentMenu.getPosition(1)[0]),
font=self.font2,
fill=1)
return
#Hightlight the menu option indicated by the selector
def highlight(self):
if type(self.currentMenu) is Menu:
try:
textDim = self.font.getsize(str(
self.interfaces[self.selector]))
self.disp.rectangle(
(self.left, self.lines[self.selector] - 1,
self.left + textDim[0] + 5,
self.lines[self.selector] + textDim[1] + 2),
outline=0,
fill=1)
self.disp.text((self.column1, self.lines[self.selector]),
self.interfaces[self.selector].toString()[0],
font=self.font2,
fill=0)
if self.interfaces[self.selector].getVal() != None:
self.disp.text(
(self.column3, self.lines[self.selector]),
self.interfaces[self.selector].toString()[1],
font=self.font2,
fill=0)
except:
pass
return
#Redraw the current menu
def update(self):
self.oled.cls()
self.draw()
self.highlight()
self.oled.display()
return
#Refresh the display without clearing previous values
def refresh(self):
self.draw()
self.oled.display()
return
#Call the update method
def getMenu(self):
self.update()
return
#Black out the display
def off(self):
self.oled.cls()
self.fan(False)
self.buttON(False)
self.xMotor.OFF()
self.rMotor.OFF()
return
#Return object info
def toString(self):
return self.currentMenu.toString()
#Set an object value
def setVal(self, val):
self.currentMenu.setVal(val)
return
#Get an object value
def getVal(self):
return self.currentMenu.getVal()
#Save option values to file
def saveDATA(self):
data = [
self.totalDisp.getVal(),
self.incDisp.getVal(),
self.totalRot.getVal(),
self.incRot.getVal(),
self.tVal.getVal(),
self.nomages.getVal(),
self.inter.getVal(),
self.totalTime.getVal(),
self.xMotor.getPosition(),
self.rMotor.getPosition()
]
file = open("//home//pi//Control//settings.txt", "w")
for i in range(0, data.__len__()):
file.write(str(data[i]))
file.write(',')
file.close()
return
#Load saved option values from file
def loadDATA(self):
try:
file = open("//home//pi//Control//settings.txt", "r")
data = file.readlines()
file.close()
for line in data:
vals = line.split(',')
print(data)
self.totalDisp.setVal(vals[0])
self.incDisp.setVal(vals[1])
self.totalRot.setVal(vals[2])
self.incRot.setVal(vals[3])
self.tVal.setVal(vals[4])
self.nomages.setVal(vals[5])
self.inter.setVal(vals[6])
self.totalTime.setVal(vals[7])
self.xMotor.setPosition(vals[8])
self.rMotor.setPosition(vals[9])
except:
print("Load failed")
return
#Select the menu represented by the selector value
def selectButt(self, channel):
self.buttON(False)
self.fan(False)
try:
self.currentMenu.isRecent(True)
except:
pass
self.currentMenu = self.interfaces[self.selector]
if type(self.currentMenu) is Action or type(self.currentMenu) is Go:
self.buttON(True)
if type(self.currentMenu) is Action:
self.fan(True)
self.selector = 0
self.calculate()
self.update()
self.saveDATA()
return
#Increase the menu selector one increment
def nextButt(self, channel):
if self.selector < self.interfaces.__len__() - 1:
self.selector += 1
else:
self.selector = 0
self.update()
return
#Decrease the menu selector one increment
def prevButt(self, channel):
if self.selector > 0:
self.selector -= 1
else:
self.selector = self.interfaces.__len__() - 1
self.update()
return
#Update all option values to agree with the most recent user setting
def calculate(self):
if self.incDisp.isMostRecent() or self.nomages.isMostRecent():
self.totalDisp.setVal(self.incDisp.getVal() *
self.nomages.getVal())
self.incDisp.isRecent(False)
self.nomages.isRecent(False)
if self.totalDisp.isMostRecent() or self.nomages.isMostRecent():
self.incDisp.setVal(self.totalDisp.getVal() /
self.nomages.getVal())
self.totalDisp.isRecent(False)
self.nomages.isRecent(False)
if self.incRot.isMostRecent() or self.nomages.isMostRecent():
self.totalRot.setVal(self.incRot.getVal() * self.nomages.getVal())
self.incRot.isRecent(False)
self.nomages.isRecent(False)
if self.totalRot.isMostRecent() or self.nomages.isMostRecent():
self.incRot.setVal(self.totalRot.getVal() / self.nomages.getVal())
self.totalRot.isRecent(False)
self.nomages.isRecent(False)
if self.totalTime.isMostRecent() or self.inter.isMostRecent():
self.nomages.setVal(
(self.totalTime.getVal() * 60) / self.inter.getVal())
self.totalDisp.setVal(self.nomages.getVal() *
self.incDisp.getVal())
self.totalRot.setVal(self.nomages.getVal() * self.incRot.getVal())
self.inter.isRecent(False)
self.totalTime.isRecent(False)
if self.inter.isMostRecent() or self.nomages.isMostRecent():
self.totalTime.setVal(
(self.inter.getVal() * self.nomages.getVal()) / 60.0)
self.totalDisp.setVal(self.nomages.getVal() *
self.incDisp.getVal())
self.totalRot.setVal(self.nomages.getVal() * self.incRot.getVal())
self.inter.isRecent(False)
self.nomages.isRecent(False)
if self.totalTime.isMostRecent() or self.nomages.isMostRecent():
self.inter.setVal(
(self.totalTime.getVal() * 60) / self.nomages.getVal())
self.totalTime.isRecent(False)
self.nomages.isRecent(False)
if (self.inter.getVal() - self.tVal.getShutter() - self.motorStepTime *
self.stepsPerUnit * self.incDisp.getVal()) < -1:
palm = self.inter.getVal() - self.tVal.getShutter(
) - self.motorStepTime * self.stepsPerUnit * self.incDisp.getVal()
face = self.inter.getVal()
self.inter.setVal(face - palm)
self.inter.increment(1)
print("Interval Updated")
if (self.inter.getVal() - self.tVal.getShutter() - self.motorStepTime *
self.stepsPerUnit * self.incDisp.getVal()) < 0:
self.inter.increment(1)
print("Interval Updated")
self.xMotor.pwmHoldSet(self.hold.getVal())
self.rMotor.pwmHoldSet(self.hold.getVal())
return
#Determine what value the encoder should increment
def decode(self, event):
with self.lock:
if type(self.currentMenu) is Menu or type(self.currentMenu) is Go:
if event == 1:
self.nextButt(1)
elif event == 2:
self.prevButt(1)
elif type(self.currentMenu) is Action or type(
self.currentMenu) is Option or type(
self.currentMenu) is Camera:
if event == 1:
encoderQueue = 1
self.jog(0, encoderQueue)
elif event == 2:
encoderQueue = -1
self.jog(0, encoderQueue)
return
#Increment some value with the encoder
def jog(self, channel, val):
if type(self.currentMenu) is Option or type(
self.currentMenu) is Camera:
self.currentMenu.increment(val)
self.refresh()
elif type(self.currentMenu) is Action:
self.currentMenu.jog(val)
self.refresh()
return
#Update the timestamp on the display
def getTime(self):
self.timeStamp = time.monotonic()
hours = int((self.totalTime.getVal() -
(self.timeStamp - self.sequenceStartTime) / 60) / 60)
minutes = int((self.totalTime.getVal() -
(self.timeStamp - self.sequenceStartTime) / 60))
seconds = int((self.totalTime.getVal() * 60 -
(self.timeStamp - self.sequenceStartTime)) % 60)
if hours < 10:
hourString = '0' + str(hours)
else:
hourString = str(hours)
if minutes < 10:
minString = '0' + str(minutes)
else:
minString = str(minutes)
if seconds < 10:
secString = '0' + str(seconds)
else:
secString = str(seconds)
timeString = hourString + ':' + minString + ':' + secString
self.ready.setTimeString(timeString)
self.refresh()
return
#Trigger what ever action is indicated by the current menu
def goSTART(self, channel):
if time.monotonic() - self.lastRun < 2:
print('DoubleGo')
return
if ~self.busy:
self.exit = False
self.buttON(False)
if self.currentMenu == self.preview:
self.fan(True)
self.busy = True
self.xMotor.goTo(self.initX.getVal())
self.rMotor.goTo(self.initR.getVal())
self.refresh()
sleep(1)
if self.travX.getVal() == 0:
self.xThread = stepperThread(1, "Trans-Thread",
self.xEvent,
self.totalDisp.getVal(),
self.incDisp.getVal(),
self.xMotor, True)
elif self.travX.getVal() == 1:
self.xThread = stepperThread(1, "Trans-Thread",
self.xEvent,
-self.totalDisp.getVal(),
self.incDisp.getVal(),
self.xMotor, True)
if self.travR.getVal() == 0:
self.rThread = stepperThread(2, "Rot-Thread", self.rEvent,
self.totalRot.getVal(),
self.incRot.getVal(),
self.rMotor, True)
elif self.travR.getVal() == 1:
self.rThread = stepperThread(2, "Rot-Thread", self.rEvent,
-self.totalRot.getVal(),
self.incRot.getVal(),
self.rMotor, True)
self.xThread.start()
self.rThread.start()
while self.xThread.is_alive() or self.rThread.is_alive():
self.refresh()
sleep(0.01)
self.buttON(True)
self.fan(True)
self.currentMenu.setVal(self.nomages.getVal())
self.refresh()
self.busy = False
self.xMotor.goTo(self.initX.getVal())
self.rMotor.goTo(self.initR.getVal())
self.lastRun = time.monotonic()
elif self.currentMenu == self.ready:
self.fan(True)
self.busy = True
self.xMotor.goTo(self.initX.getVal())
self.rMotor.goTo(self.initR.getVal())
self.refresh()
GPIO.output(self.halfPress, False)
sleep(1)
if self.travX.getVal() == 0:
self.xThread = stepperThread(1, "Trans-Thread",
self.xEvent,
self.totalDisp.getVal(),
self.incDisp.getVal(),
self.xMotor, False)
elif self.travX.getVal() == 1:
self.xThread = stepperThread(1, "Trans-Thread",
self.xEvent,
-self.totalDisp.getVal(),
self.incDisp.getVal(),
self.xMotor, False)
if self.travR.getVal() == 0:
self.rThread = stepperThread(2, "Rot-Thread", self.rEvent,
self.totalRot.getVal(),
self.incRot.getVal(),
self.rMotor, False)
elif self.travR.getVal() == 1:
self.rThread = stepperThread(2, "Rot-Thread", self.rEvent,
-self.totalRot.getVal(),
self.incRot.getVal(),
self.rMotor, False)
self.sequenceStartTime = time.monotonic()
self.xThread.start()
self.rThread.start()
n = 0 #Shot counter for UI display
while self.xThread.is_alive() or self.rThread.is_alive():
t1 = time.monotonic()
n += 1
self.captureSequence(n)
self.xEvent.set()
self.rEvent.set()
self.refresh()
self.timeStamp = time.monotonic()
self.monotomiTimer(t1, self.inter.getVal())
self.buttON(True)
self.fan(False)
self.currentMenu.setVal(self.nomages.getVal())
self.refresh()
self.busy = False
self.xMotor.goTo(self.initX.getVal())
self.rMotor.goTo(self.initR.getVal())
self.lastRun = time.monotonic()
elif self.currentMenu == self.calTrans:
self.fan(True)
self.buttON(False)
self.xMotor.calibrate()
self.buttON(True)
self.update()
self.fan(False)
elif self.currentMenu == self.calRot:
self.fan(True)
self.buttON(False)
self.rMotor.calibrate()
self.buttON(True)
self.update()
self.fan(False)
elif self.currentMenu == self.freeMove:
self.buttON(False)
self.xMotor.goTo(self.currentMenu.getVal())
self.buttON(True)
self.update()
elif self.currentMenu == self.freeRotate:
self.buttON(False)
self.rMotor.goTo(self.currentMenu.getVal())
self.buttON(True)
self.update()
else:
try:
self.currentMenu.isRecent(True)
except:
pass
self.currentMenu = self.ready
self.buttON(True)
self.fan(False)
self.selector = 0
self.calculate()
self.update()
self.saveDATA()
else:
self.exit = True
return
#Execute camera capture and update
def captureSequence(self, shotNumber):
self.buttON(True)
self.capture(self.tVal.getShutter())
self.buttON(False)
self.updateInfo(self.nomages.getVal() - shotNumber)
self.refresh()
return
#Trigger the camera
def capture(self, time):
GPIO.output(self.fullPress, False)
sleep(time)
GPIO.output(self.fullPress, True)
GPIO.output(self.halfPress, True)
return
#Time for capture sequence
def monotomiTimer(self, t1, delay):
while time.monotonic() - t1 < delay:
if time.monotonic() - t1 > self.inter.getVal() - 1:
GPIO.output(self.halfPress, False)
self.getTime()
sleep(0.001)
return
class Replicape:
''' Init '''
def __init__(self):
logging.info("Replicape initializing " + version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(
self.config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(
self.config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
self.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
self.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
"B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
"B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
"B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1(
"/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1,
self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP(self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2,
self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1: self.fan_2, 2: self.fan_3}
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0, "H": 0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
''' When a new gcode comes in, excute it '''
def loop(self):
print "Replicape starting main"
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
if gcode.prot == "USB":
self.usb.send_message(gcode.getAnswer())
elif gcode.prot == "PIPE":
self.pipe.send_message(gcode.getAnswer())
else:
self.ethernet.send_message(gcode.getAnswer())
self.commands.task_done()
except Exception as e:
logging.exception("Ooops: ")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter(
"F")) / 60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(
i)) / 1000.0 # Get the value, new position or vector
if g.hasLetter(
"E"
) and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement,
g.is_crc()) # Make a path segment from the axes
self.path_planner.add_path(
path
) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(
g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE",
False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(
path
) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code(
) == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0",
"H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(
i)) / 1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate,
"G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
SMD.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(
int(g.tokenValue(i)))
SMD.commit()
elif g.code(
) == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(
float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
SMD.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(
float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to " +
str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(
float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to " + str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:" + str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:" + str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:" + str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:" + str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(
float(g.getValueByLetter("S")) /
255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0)) / 255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: " +
' '.join('%s:%s' % i
for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M142":
self.stat = True
elif g.code() == "M143":
self.stat = False
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: " + g.message)
def setFan(self, pin):
self.blower = Fan(pin, 100, 0.25, 120)
return
class Replicape:
''' Init '''
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
''' When a new gcode comes in, excute it '''
def loop(self):
print "Replicape starting main"
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
if gcode.prot == "USB":
self.usb.send_message(gcode.getAnswer())
elif gcode.prot == "PIPE":
self.pipe.send_message(gcode.getAnswer())
else:
self.ethernet.send_message(gcode.getAnswer())
self.commands.task_done()
except Exception as e:
logging.exception("Ooops: ")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter("F"))/60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
if g.hasLetter("E") and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement, g.is_crc())# Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE", False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0", "H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate, "G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
SMD.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
SMD.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to "+str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to "+str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:"+str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:"+str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:"+str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(float(g.getValueByLetter("S"))/255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0))/255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: "+' '.join('%s:%s' % i for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M142":
self.stat = True
elif g.code() == "M143":
self.stat = False
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: "+g.message)
from Fan import Fan
fan1 = Fan("MAX", True, 10, "yellow")
fan2 = Fan("MEDIUM", False, 5, "blue")
print("Fan1")
fan1.print()
print("Fan2")
fan2.print()
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")
