def main(machine):
# Load calibration file
calibration = Calibration()
table = calibration.load_calibration_file(calibration_file)
# Preparation:
machine.connect()
machine.home()
# Movements:
# --------------------------------------------------------------------------------------
# Setup initial configuration
setup_movements = [('A1', 'B4'), ('A8', 'B7'), ('H8', 'E6'), ('D1', 'D2')]
for origin, destination in setup_movements:
pick_and_place(machine, chess_to_coord(origin, table), chess_to_coord(destination, table))
t.sleep(5)
machine.home()
# Capture attacking piece
out_point = chess_to_coord('B0', table) #[0], calibration.real_points['out_white'][1])
pick_and_place(machine, chess_to_coord('B4', table), out_point)
t.sleep(1)
# Simple movements
movement_list = [('B7', 'B4'),
('E6', 'D5'),
('H1', 'H5'),
('D5', 'D6'),
('B4','B6'),
('D6','C7'),
('B6','F6'),
('C7','D7'),
('H5','H7'),
('D7','D8'),
('F6','F8')]
for origin, destination in movement_list:
pick_and_place(machine, chess_to_coord(origin, table), chess_to_coord(destination, table))
t.sleep(5)
machine.home()
# Restore initial position
cleanup_movements = [('H7', 'H1'), ('D2', 'D1'), ('B0', 'A1'), ('F8', 'F4'), ('D8', 'H8'), ('F4', 'A8')]
for origin, destination in cleanup_movements:
pick_and_place(machine, chess_to_coord(origin, table), chess_to_coord(destination, table))
t.sleep(5)
machine.home()
# End
machine.home()
try:
cxy.save_to_file('chess.gcode')
except AttributeError:
pass
machine.disconnect()
def main(machine):
# Load calibration file
calibration = Calibration()
table = calibration.load_calibration_file(calibration_file)
# Preparation:
machine.connect()
machine.home()
# Movements:
# --------------------------------------------------------------------------------------
# Setup initial configuration
setup_movements = [('A1', 'B4'), ('A8', 'B7'), ('H8', 'E6'), ('D1', 'D2')]
for origin, destination in setup_movements:
pick_and_place(machine, chess_to_coord(origin, table),
chess_to_coord(destination, table))
t.sleep(5)
machine.home()
# Capture attacking piece
out_point = chess_to_coord(
'B0', table) #[0], calibration.real_points['out_white'][1])
pick_and_place(machine, chess_to_coord('B4', table), out_point)
t.sleep(1)
# Simple movements
movement_list = [('B7', 'B4'), ('E6', 'D5'), ('H1', 'H5'), ('D5', 'D6'),
('B4', 'B6'), ('D6', 'C7'), ('B6', 'F6'), ('C7', 'D7'),
('H5', 'H7'), ('D7', 'D8'), ('F6', 'F8')]
for origin, destination in movement_list:
pick_and_place(machine, chess_to_coord(origin, table),
chess_to_coord(destination, table))
t.sleep(5)
machine.home()
# Restore initial position
cleanup_movements = [('H7', 'H1'), ('D2', 'D1'), ('B0', 'A1'),
('F8', 'F4'), ('D8', 'H8'), ('F4', 'A8')]
for origin, destination in cleanup_movements:
pick_and_place(machine, chess_to_coord(origin, table),
chess_to_coord(destination, table))
t.sleep(5)
machine.home()
# End
machine.home()
try:
cxy.save_to_file('chess.gcode')
except AttributeError:
pass
machine.disconnect()
def onLoadButtonClicked(self):
calibration_filename = self.calibrationFileLineEdit.text()
points_filename = self.pointsFileLineEdit.text()
if calibration_filename and points_filename:
# Ask the user for a file
filename, ext = QtGui.QFileDialog.getOpenFileName(
None, "Select SVG file", filter='*.svg')
if filename:
try:
# Load image data from calibration file
calibration = Calibration()
calibration.load_zipfile(calibration_filename)
self.loadImage(calibration)
except Calibration.LoadException, e:
QtGui.QMessageBox().critical(
self, 'Error', 'Calibration file not compatible!')
return False
try:
# Load points data from points file
self.limits = Calibration.load_calibration_file(
points_filename)
except Calibration.LoadException, e:
QtGui.QMessageBox().critical(
self, 'Error', 'Points file not compatible!')
return False
try:
# Load data from files
self.trajectory.load_paths_from_svg(filename)
# Set trajectories on controls
trajectory_choices = [
"Trajectory #%d" % i
for i, path in enumerate(self.trajectory.paths)
]
self.trajectoryComboBox.clear()
self.trajectoryComboBox.addItems(trajectory_choices)
self.setTrajectoryControlsEnabled(True)
self.update()
except TrajectoryController.TrajectoryException, e:
pass
def onLoadButtonClicked(self):
calibration_filename = self.calibrationFileLineEdit.text()
points_filename = self.pointsFileLineEdit.text()
if calibration_filename and points_filename:
# Ask the user for a file
filename, ext = QtGui.QFileDialog.getOpenFileName(None, "Select SVG file", filter='*.svg' )
if filename:
try:
# Load image data from calibration file
calibration = Calibration()
calibration.load_zipfile(calibration_filename)
self.loadImage(calibration)
except Calibration.LoadException, e:
QtGui.QMessageBox().critical(self, 'Error', 'Calibration file not compatible!')
return False
try:
# Load points data from points file
self.limits = Calibration.load_calibration_file(points_filename)
except Calibration.LoadException, e:
QtGui.QMessageBox().critical(self, 'Error', 'Points file not compatible!')
return False
try:
# Load data from files
self.trajectory.load_paths_from_svg(filename)
# Set trajectories on controls
trajectory_choices = [ "Trajectory #%d" % i for i, path in enumerate(self.trajectory.paths)]
self.trajectoryComboBox.clear()
self.trajectoryComboBox.addItems(trajectory_choices)
self.setTrajectoryControlsEnabled(True)
self.update()
except TrajectoryController.TrajectoryException, e:
pass
def load_calibration_from_file(self, filepath):
self.points = Calibration.load_calibration_file(filepath)
def load_calibration_from_file(self, filepath):
self.points = Calibration.load_calibration_file(filepath)