class JogController:
def __init__(self, grbl):
self.step_size = 0.1 # mm
self.max_feedrate = 1000
self.loop_delay = 0.02
self.jogging = False
self.stepping = False
self.grbl = grbl
self.gamepad = Gamepad()
# Feed hold
self.gamepad.on('l1', lambda *a: grbl.send(b'!'))
# Resume cycle
self.gamepad.on('l2', lambda *a: grbl.send(b'~'))
self.gamepad.on('btn11', self.toggle_stepping) # left axis btn
self.gamepad.on('select', lambda *a: grbl.soft_reset())
self.gamepad.on('start', lambda *a: grbl.unlock())
self.gamepad.on('dpady', self.on_dpady)
# zero X-axis work coordinates
self.gamepad.on('btn2', lambda *a: grbl.set_active_coord_system(x=0))
# zero Y-axis work coordinates
self.gamepad.on('btn1',
lambda *a: self.grbl.set_active_coord_system(y=0))
# zero Z-axis work coordinates
self.gamepad.on('btn3',
lambda *a: self.grbl.set_active_coord_system(z=0))
def start(self):
self._running = True
self.thread = Thread(target=self.run)
self.thread.daemon = True
self.thread.start()
def stop(self):
self._running = False
self.thread.join()
del self.thread
def run(self):
while self._running:
if self.gamepad.connected:
self._do_jog()
def toggle_stepping(self, *a):
self.stepping = not self.stepping
print("stepping: {}".format(self.stepping))
def cancel_jog(self, *a):
print("cancel jog (0x85)")
self.grbl.jog_cancel()
self.jogging = False
def on_dpady(self, value, event):
self.max_feedrate *= (1 - 0.1 * value)
print("max feedrate: {}".format(self.max_feedrate))
def _do_jog(self):
sleep(0.005)
# create vector from controller inputs (invert Y)
v = V(
self.gamepad.axis('lx'),
-self.gamepad.axis('ly'),
-self.gamepad.axis('ry'),
)
if v.length > 1e-5:
if self.stepping and self.jogging:
return
self.jogging = True
else:
if self.jogging:
self.cancel_jog()
return
feedrate = int(v.length * self.max_feedrate)
step_size_mod = self.step_size * (feedrate / self.max_feedrate)
delta = v.normal * step_size_mod
self.grbl.jog(feedrate, x=delta.x, y=delta.y, z=delta.z)
