def main():
print("Loading smoothie connector")
smoothie = connectors.SmoothieV11TelnetConnector(config.SMOOTHIE_HOST)
print("Turning wheels right")
smoothie.write("G0 A-38 F1000")
res = smoothie.read_some()
if res != adapters.SmoothieAdapter.RESPONSE_OK:
print("Couldn't turn wheels right, smoothie error occurred:", res)
exit(1)
print("Execution done")
def main():
print("Loading smoothie connector")
smoothie = connectors.SmoothieV11TelnetConnector(config.SMOOTHIE_HOST)
print("Moving forward")
smoothie.write("G0 B48.9 F1000")
res = smoothie.read_some()
if res != adapters.SmoothieAdapter.RESPONSE_OK:
print("Couldn't move forward, smoothie error occurred:", res)
exit(1)
print("Execution done")
def main():
print("Loading smoothie connector")
smoothie = connectors.SmoothieV11TelnetConnector(config.SMOOTHIE_HOST)
print("Calibrating Z")
smoothie.write("G28 Z1000")
print(smoothie.read_some())
print("Extracting")
smoothie.write("G0 Z-30 F1000")
print(smoothie.read_some())
print("Picking cork up")
smoothie.write("G28 Z1000")
print(smoothie.read_some())
print("Done!")
def __init__(self, smoothie_host):
if type(smoothie_host) is not str:
raise TypeError(
"invalid smoothie_host type: should be str, received " +
type(smoothie_host).__name__)
if config.SMOOTHIE_BACKEND == 1:
self._smc = connectors.SmoothieV11TelnetConnector(smoothie_host)
elif config.SMOOTHIE_BACKEND == 2:
self._smc = connectors.SmoothieV11SerialConnector(
smoothie_host, config.SMOOTHIE_BAUDRATE)
else:
raise ValueError("wrong config.SMOOTHIE_BACKEND value: " +
str(smoothie_host))
self._sync_locker = multiprocessing.RLock()
self._x_cur = multiprocessing.Value("d", 0)
self._y_cur = multiprocessing.Value("d", 0)
self._z_cur = multiprocessing.Value("d", 0)
self._a_cur = multiprocessing.Value("d", 0)
self._b_cur = multiprocessing.Value("d", 0)
self._c_cur = multiprocessing.Value("d", 0)
res = self.switch_to_relative()
if res == self.RESPONSE_WTF or "ignored" in res:
res = self.switch_to_relative()
if res != self.RESPONSE_OK:
# TODO: what if so?
print(
"Switching smoothie to relative was failed! Smoothie's response:\n",
res)
# TODO: temporary crutch - vesc is moving Z upward before smoothie loads, so we need to lower the cork a bit down
res = self.custom_move_for(config.Z_F_EXTRACTION_DOWN, Z=5)
self.wait_for_all_actions_done()
if res != self.RESPONSE_OK:
print(
"Couldn't move cork down for Z-5! Calibration errors on Z axis are possible!"
)
res = self.ext_calibrate_cork()
"""