def _setSync( self, syncMode ):
"""Set sync mode"""
if syncMode >= 0 and syncMode <= 0xFF:
p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_SYNC, int(syncMode)] )
p.send()
else:
raise RepRapError("Invalid sync mode")
def setMotor(self, direction, speed):
"""Set motor direction (reprap.MOTOR_BACKWARD or reprap.MOTOR_FORWARD) and speed (0-255)"""
if int(direction) > 0 and int(direction) < 3 and int(speed) >= 0 and int(speed <= 0xFF):
p = snap.Packet( self.address, snap.localAddress, 0, 1, [int(direction), int(speed)] ) ##no command being sent, whats going on?
p.send()
else:
raise RepRapError("Invalid direction or speed value")
def getSensors(self):
"""Debug only. Returns raw PIC port bytes)"""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_GETSENSOR])
p.send()
rep = p.getReply()
rep.checkReply(3, CMD_GETSENSOR)
data = rep.dataBytes
print data[1], data[2]
def testComms(): """Test that serial communications are working properly with simple loopback (incomplete)""" p = snap.Packet( snap.localAddress, snap.localAddress, 0, 1, [255, 0] ) #start sync p.send() notif = _getNotification( serialPort ) if notif.dataBytes[0] == 255: return True return False
def getVersion(self):
"""Returns (major, minor) firmware version as a two integer tuple."""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_VERSION])
p.send()
rep = p.getReply()
rep.checkReply(3, CMD_VERSION)
data = rep.dataBytes
return data[1], data[2]
def setPower( self, power ):
"""Set stepper motor power (0-100%)"""
power = int( float(power) * 0.63 )
if power >=0 and power <=0x3F:
p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_SETPOWER, int( power * 0.63 )] ) # This is a value from 0 to 63 (6 bits)
p.send()
else:
raise RepRapError("Invalid power value")
def setPos(self, pos):
"""set current position (integer) (set variable, not physical position. units as steps)"""
if pos >=0 and pos <= 0xFFFF:
posMSB ,posLSB = _int2bytes( pos )
p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_SETPOS, posMSB, posLSB] )
p.send()
else:
raise RepRapError("Invalid position value")
def getPos(self):
"""Return the axis postition as an integer (steps)."""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_GETPOS])
p.send()
rep = p.getReply()
rep.checkReply(3, CMD_GETPOS)
data = rep.dataBytes
pos = _bytes2int(data[1], data[2])
return pos
def _getModuleType(self): """Returns module type as an integer. note: do pics not support this yet? I can't see it in code and get no reply from pic""" p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_GETMODULETYPE] ) # Create SNAP packet requesting module type p.send() rep = p.getReply() rep.checkReply(2, CMD_GETMODULETYPE) data = rep.dataBytes return data[1]
def _getRawTemp(self):
"""Get raw temperature pic timer value"""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_GETTEMP])
p.send()
rep = p.getReply()
rep.checkReply(3, CMD_GETTEMP)
data = rep.dataBytes
#rawTemp, calibration
return data[1], data[2]
def _setHeat(self, lowHeat, highHeat, tempTarget, tempMax):
print "Setting heater with params, ", "lowHeat", lowHeat, "highHeat", highHeat, "tempTarget", tempTarget, "tempMax", tempMax
tempTargetMSB, tempTargetLSB = _int2bytes(tempTarget)
tempMaxMSB, tempMaxLSB = _int2bytes(tempMax)
p = snap.Packet(self.address, snap.localAddress, 0, 1, [
CMD_SETHEAT,
int(lowHeat),
int(highHeat), tempTargetMSB, tempTargetLSB, tempMaxMSB, tempMaxLSB
]) # assumes MSB first (don't know this!)
p.send()
def forward(self, speed = None):
"""Spin axis forward at given speed (0-255)
If no speed is specified then a value must have been previously set with axisClass.setSpeed()"""
if speed == None:
speed = self.speed
if speed == None:
raise _RepRapError("Axis speed not set")
if speed >=0 and speed <= 0xFF:
p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_FORWARD, int(speed)] )
p.send()
else:
raise RepRapError("Invalid speed value")
def _DDA( self, seekTo, slaveDelta, speed = False, waitArrival = True):
"""Set DDA mode"""
if not speed:
speed = self.speed
if (seekTo <= self.limit or self.limit == 0) and seekTo >=0 and seekTo <= 0xFFFF and slaveDelta >=0 and slaveDelta <= 0xFFFF and speed >=0 and speed <= 0xFF:
masterPosMSB, masterPosLSB = _int2bytes( seekTo )
slaveDeltaMSB, slaveDeltaLSB = _int2bytes( slaveDelta )
p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_DDA, int(speed), masterPosMSB ,masterPosLSB, slaveDeltaMSB, slaveDeltaLSB] ) #start sync
p.send()
if waitArrival:
notif = p.getReply()
if not notif.dataBytes[0] == CMD_DDA:
raise _RepRapError("Expected DDA notification")
def homeReset(self, speed = None, waitArrival = True):
"""Go to 0 position. If waitArrival is True, funtion waits until reset is compete to return"""
if speed == None:
speed = self.speed
if speed == None:
raise _RepRapError("Axis speed not set")
if speed >= 0 and speed <= 0xFF:
p = snap.Packet( self.address, snap.localAddress, 0, 1, [CMD_HOMERESET, int(speed)] )
p.send()
if waitArrival:
notif = p.getReply()
if not notif.dataBytes[0] == CMD_HOMERESET:
raise _RepRapError("Expected home reset notification")
else:
raise RepRapError("Invalid speed value")
def scanNetwork():
"""Scan reprap network for devices (incomplete) - this will be used by autoconfig functions when complete"""
devices = []
for remoteAddress in range(2, 6): # For every address in range. full range will be 255
print "Trying address " + str(remoteAddress)
p = snap.Packet( remoteAddress, snap.localAddress, 0, 1, [CMD_GETMODULETYPE] ) # Create snap packet requesting module type
#p = snap.Packet( remoteAddress, snap.localAddress, 0, 1, [CMD_VERSION] )
p.send() # Send snap packet, if sent ok then await reply
rep = p.getReply()
print "dev", remoteAddress
#devices.append( { 'address':remoteAddress, 'type':rep.dataBytes[1], 'subType':rep.dataBytes[2] } ) # If device replies then add to device list.
time.sleep(0.5)
for d in devices:
#now get versions
print "device", d
def seek(self, pos, speed=None, waitArrival=True, units=None):
"""Seek to axis location pos. If waitArrival is True, funtion waits until seek is compete to return"""
# If no speed is specified use value set for axis, if this doesn't exist raise exception
if speed == None:
speed = self.speed
if speed == None:
raise _RepRapError("Axis speed not set")
# If no units area specified use units set for axis, if this doesn't exist use steps
if units == None:
units = self.units
if units == None:
units = UNITS_STEPS
# Convert units into steps
if units == UNITS_STEPS:
pass
elif units == UNITS_MM:
newX = int(float(newX) * self.stepsPerMM)
newY = int(float(newY) * self.stepsPerMM)
elif units == UNITS_INCHES:
newX = int(float(newX) * self.stepsPerMM * 25.4)
newX = int(float(newY) * self.stepsPerMM * 25.4)
else:
raise _RepRapError("Invalid units")
# Check that position is withing limits and speed is valid
if (pos <= self.limit or self.limit == 0
) and pos >= 0 and pos <= 0xFFFF and speed >= 0 and speed <= 0xFF:
posMSB, posLSB = _int2bytes(pos)
p = snap.Packet(self.address, snap.localAddress, 0, 1,
[CMD_SEEK, int(speed), posMSB, posLSB])
p.send()
if waitArrival:
notif = p.getReply()
if not notif.dataBytes[0] == CMD_SEEK:
raise _RepRapError("Expected seek notification")
else:
raise _RepRapError("Invalid speed or position value")
def free(self):
"""Power off coils on stepper"""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_FREE])
p.send()
def _setTempScaler(self, val):
p = snap.Packet(self.address, snap.localAddress, 0, 1,
[CMD__setTempScaler, int(val)])
p.send()
def backward1(self):
"""Move axis one step backward"""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_BACKWARD1])
p.send()
def forward1(self):
"""Move axis one step forward
Return the completed state as a bool."""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_FORWARD1])
p.send()
def freeMotor(self):
"""Power off the extruder motor"""
p = snap.Packet(self.address, snap.localAddress, 0, 1, [CMD_FREE])
p.send()
def setCooler(self, speed):
"""Set the speed (0-255) of the cooling fan"""
p = snap.Packet(self.address, snap.localAddress, 0, 1,
[CMD_SETCOOLER, int(speed)])
p.send()
def setNotify(self):
"""Set axis to notify on arrivals"""
p = snap.Packet(self.address, snap.localAddress, 0, 1,
[CMD_NOTIFY, snap.localAddress
]) # set notifications to be sent to host
p.send()
def _setVoltageReference(self, val):
p = snap.Packet(self.address, snap.localAddress, 0, 1,
[CMD_SETVREF, int(val)])
p.send()
