# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
hardware.init_hardware()
storage.init_storage('storage.ini')
# Gantry components for Y and Z Axis
base.init_gantry(axisIndex=1)
base.init_gantry4(axisIndex=2, joints=4)
# reading functions
hardware.hardware_read()
base.gantry_read(gantryAxis=1, thread='servo-thread')
base.gantry_read(gantryAxis=2, thread='servo-thread')
hal.addf('motion-command-handler', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
#numLights = c.find('FDM', 'NUM_LIGHTS')
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=6)
# Y [1] Axis
base.setup_stepper(section='AXIS_1',
axisIndex=1,
stepgenIndex=4,
import hardware
from fdm.config import base
from fdm.config import storage
from fdm.config import motion
rt.init_RTAPI()
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
storage.init_storage('storage.ini')
# Gantry component for Z Axis
base.init_gantry(axisIndex=2)
base.gantry_read(gantryAxis=2, thread='servo-thread')
hal.addf('motion-command-handler', 'servo-thread')
# setup axis feedback
limits = [
[c.find('AXIS_0', 'MAX_LIMIT') - 0.2, c.find('AXIS_0', 'MAX_LIMIT')],
[c.find('AXIS_1', 'MAX_LIMIT') - 0.2, c.find('AXIS_1', 'MAX_LIMIT')],
[c.find('AXIS_2', 'MIN_LIMIT'), 0.0]
]
for n in range(c.find('TRAJ', 'AXES')):
axisPos = hal.newsig('axis-%i-pos' % n, hal.HAL_FLOAT)
hal.Pin('axis.%i.motor-pos-cmd' % n).link(axisPos)
hal.Pin('axis.%i.motor-pos-fb' % n).link(axisPos)
# fake limits