costheta=(Dx*e1[0]+Dy*e1[1])/r**2;
sintheta=(Dx*e2[0]+Dy*e2[1])/r**2; #theta is the angule spanned by the circular interpolation curve
if costheta>1: # there will always be some numerical errors! Make sure abs(costheta)<=1
costheta=1;
elif costheta<-1:
costheta=-1;
theta=arccos(costheta);
if sintheta<0:
theta=2.0*pi-theta;
no_step=int(round(r*theta/dx/5.0)); # number of point for the circular interpolation
for i in range(1,no_step+1):
tmp_theta=i*theta/no_step;
tmp_x_pos=xcenter+e1[0]*cos(tmp_theta)+e2[0]*sin(tmp_theta);
tmp_y_pos=ycenter+e1[1]*cos(tmp_theta)+e2[1]*sin(tmp_theta);
moveto(MX,tmp_x_pos,dx,MY, tmp_y_pos,dy,speed,True);
except KeyboardInterrupt:
pass
GPIO.output(Laser_switch,False); # turn off laser
moveto(MX,0,dx,MY,0,dy,50,False); # move back to Origin
MX.unhold();
MY.unhold();
GPIO.cleanup();
# linear motion #
# Xiang Zhai, May 2, 2013 #
# zxzhaixiang at gmail.com #
# For instruction on how to build the laser engraver and operate the codes, please visit #
# funofdiy.blogspot.com #
# #
################################################################################################
import RPi.GPIO as GPIO
from Bipolar_Stepper_Motor_Class import Bipolar_Stepper_Motor
import time
from numpy import pi, sin, cos, sqrt, arccos, arcsin
GPIO.setmode(GPIO.BOARD)
M = Bipolar_Stepper_Motor(11, 7, 5, 3)
speed = 200
#step/sec
try:
for i in range(30):
print "Move to %s .." % ((i + 1) * 1000)
M.move(-1, 1000, 1.0 / speed)
except KeyboardInterrupt:
pass
M.unhold()
GPIO.cleanup()
costheta = 1
elif costheta < -1:
costheta = -1
theta = acos(costheta)
if sintheta < 0:
theta = 2.0 * pi - theta
# number of point for the circular interpolation
no_step = int(round(r * theta / dx / 5.0))
for i in range(1, no_step + 1):
tmp_theta = i * theta / no_step
tmp_x_pos = xcenter+e1[0] * \
cos(tmp_theta)+e2[0]*sin(tmp_theta)
tmp_y_pos = ycenter+e1[1] * \
cos(tmp_theta)+e2[1]*sin(tmp_theta)
moveto(MX, tmp_x_pos, dx, MY, tmp_y_pos, dy)
except KeyboardInterrupt:
pass
SetPenDown(False) # up the pen
moveto(MX, 0, dx, MY, 0, dy) # move back to Origin
MZ.stop()
MX.unhold()
MY.unhold()
GPIO.cleanup()
dy * center_distance1[1]) / radius**2
sin_theta = (dx * center_distance2[0] +
dy * center_distance2[1]) / radius**2
#theta is the angule spanned by the circular interpolation curve
if cos_theta > 1:
cos_theta = 1
elif cos_theta < -1:
cos_theta = -1
theta = arccos(cos_theta)
if sin_theta < 0:
theta = 2.0 * pi - theta
num_steps = int(
round(radius * theta / max_precision /
5.0)) # number of point for the circular interpolation
for i in range(1, num_steps + 1):
tmp_theta = i * theta / num_steps
tmp_x = xcenter + center_distance1[0] * cos(
tmp_theta) + center_distance2[0] * sin(tmp_theta)
tmp_y = ycenter + center_distance1[1] * cos(
tmp_theta) + center_distance2[1] * sin(tmp_theta)
x, direction_x, y, direction_y = getDirection(tmp_x, tmp_y)
total_steps, step_x, step_y = getTotalSteps(x, y)
runMotor(motorX, x, direction_x, step_x, motorY, y,
direction_y, step_y, total_steps, speed)
motorX.unhold()
motorY.unhold()
servo_motor.clean()
