def __init__(self, horizontalControlPin: int, verticalControlPin: int) -> ArmControl:
self.horizontalControlPin = horizontalControlPin
self.verticalControlPin = verticalControlPin
self.horizontalServo = Servo(horizontalControlPin)
self.verticalServo = Servo(verticalControlPin)
self.tracking = False
def __init__(self): #ServoBlaster is what we use to control servo motors #Upper Limit for servos self._ServoXul = 250 self._ServoYul = 230 #Lower limit for servos self._ServoXll = 75 self._ServoYll = 75 self.servo_X = Servo(0, self._ServoXul, self._ServoXll) self.servo_Y = Servo(1, self._ServoYul, self._ServoYll)
def __init__(self):
# ServoBlaster is what we use to control servo motors
# Upper Limit for servos
self._ServoXul = 250
self._ServoYul = 230
# Lower limit for servos
self._ServoXll = 75
self._ServoYll = 75
"""
Servos are default to Servo X-axis is assigned (servo-0) GPIO 4
Servo-Y axis is assigned (servo-1) GPIO 17
"""
self.servo_X = Servo(0, self._ServoXul, self._ServoXll)
self.servo_Y = Servo(1, self._ServoYul, self._ServoYll)
def __init__(self, printer):
super(HPX2MaxPlugin, self).__init__(printer)
logging.debug('Activating ' + __PLUGIN_NAME__ + ' plugin...')
# Add the servo
channel = self.printer.config.get(type(self).__name__, 'servo_channel')
pulse_min = self.printer.config.getfloat(
type(self).__name__, 'pulse_min')
pulse_max = self.printer.config.getfloat(
type(self).__name__, 'pulse_max')
angle_min = self.printer.config.getfloat(
type(self).__name__, 'angle_min')
angle_max = self.printer.config.getfloat(
type(self).__name__, 'angle_max')
angle_init = self.printer.config.getfloat(
type(self).__name__, 'extruder_0_angle')
self.head_servo = Servo(channel, pulse_min, pulse_max, angle_min,
angle_max, angle_init)
# Load the config for angles
self.t0_angle = float(
self.printer.config.getfloat(
type(self).__name__, 'extruder_0_angle'))
self.t1_angle = float(
self.printer.config.get(type(self).__name__, 'extruder_1_angle'))
# Override the changing tool command to trigger the servo
self.printer.processor.override_command('T0', T0_HPX2Max(self.printer))
self.printer.processor.override_command('T1', T1_HPX2Max(self.printer))
def __init__(self,*args,**kwds):
servoControlFrame.__init__(self,*args,**kwds)
self.servoCtrl = Servo()
self.initGrid()
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER,self.onTick,self.timer)
self.timer.Start(200)
def main():
car = Car()
ultrasound = Ultrasound()
font_servo = Servo(0)
time.sleep(2)
safe_distance = 70
while True:
# 1. 是否符合前进条件
dis = ultrasound.test()
if dis < safe_distance:
# 移动
d1, d2, d3, d4 = probe(ultrasound, font_servo)
if max(d1, d2, d3, d4) < 100:
car.back(0.2)
if d1 == max(d1, d2, d3, d4):
car.right(0.5)
if d2 == max(d1, d2, d3, d4):
car.right(0.25)
if d3 == max(d1, d2, d3, d4):
car.left(0.25)
if d4 == max(d1, d2, d3, d4):
car.left(0.5)
time.sleep(1)
# 向前移动
# 重新获取距离
distance = ultrasound.test()
while distance > safe_distance:
car.run()
time.sleep(0.1)
distance = ultrasound.test()
else:
car.stop()
def __init__(self):
if MovementController.__instance is not None: # if the constructor of this class is called more than once
raise Exception("This class is a singleton!")
else:
# puts the created instance in the "__instance" variable
MovementController.__instance = self
# array that holds the pins of all the motors
pinArray = [[20, 23, 24], [16, 5, 6]]
# creates instances of the Motor class to control the physical motors
self.leftMotor = Motor(pinArray[0])
self.rightMotor = Motor(pinArray[1])
self.servos = AX12.Ax12() # list of all servos
# creates instances of the Servo class to control the physical servos
self.armServo = Servo(self.servos, 3, 426, 576, 100)
self.gripServo = Servo(self.servos, 4, 280, 574, 512)
def __init__(self, printer):
super(DualServoPlugin, self).__init__(printer)
logging.debug('Activating ' + __PLUGIN_NAME__ + ' plugin...')
# Add the servo
channel = self.printer.config.get(type(self).__name__, 'servo_channel')
pulse_min = self.printer.config.getfloat(type(self).__name__, 'pulse_min')
pulse_max = self.printer.config.getfloat(type(self).__name__, 'pulse_max')
angle_min = self.printer.config.getfloat(type(self).__name__, 'angle_min')
angle_max = self.printer.config.getfloat(type(self).__name__, 'angle_max')
angle_init = self.printer.config.getfloat(type(self).__name__, 'extruder_0_angle')
# Disable the end-stop on this channel
if channel == "P9_14":
self.printer.end_stops["X2"].active = False
self.printer.end_stops["X2"].stop()
elif channel == "P9_16":
self.printer.end_stops["Y2"].active = False
self.printer.end_stops["Y2"].stop()
self.head_servo = Servo(channel, pulse_min, pulse_max, angle_min, angle_max, angle_init)
# Load the config for angles
self.t0_angle = float(self.printer.config.getfloat(type(self).__name__, 'extruder_0_angle'))
self.t1_angle = float(self.printer.config.get(type(self).__name__, 'extruder_1_angle'))
# Override the changing tool command to trigger the servo
self.printer.processor.override_command('T0', T0_DualServo(self.printer))
self.printer.processor.override_command('T1', T1_DualServo(self.printer))
def main(argv):
GPIO.setmode(GPIO.BOARD)
angle = int(argv[0])
my_servo = Servo(11, "Sg90")
my_servo.write_angle(angle)
print("Moving: ", angle)
time.sleep(1)
def main(argv):
frame = cv2.imread("/home/pi/Downloads/IMG_4644.JPG")
frame = imutils.resize(frame, width=400)
# Converting captured frame to monochrome
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Blurring the image using the GaussianBlur() method of the opencv object
blur = cv2.GaussianBlur(gray, (9, 9), 0)
# Using an opencv method to identify the threshold intensities and locations
(darkest_value, brightest_value, darkest_loc, brightest_loc) = cv2.minMaxLoc(blur)
print "Brightest Value:",brightest_value
# Threshold the blurred frame accordingly
# First argument is the source image, which is the grayscale image. Second argument is the threshold value
# which is used to classify the pixel values. Third argument is the maxVal which represents the value to be given
# if pixel value is more than (sometimes less than) the threshold value
out2, threshold2 = cv2.threshold(blur, brightest_value - 10, 230, cv2.THRESH_BINARY+cv2.THRESH_OTSU)
out, threshold = cv2.threshold(blur, brightest_value - 10, 230, cv2.THRESH_BINARY)
thr = threshold.copy()
print "out value:",out2
# Resize frame for ease
# cv2.resize(thr, (300, 300))
# Find contours in thresholded frame
edged = cv2.Canny(threshold, 50, 150)
# First one is source image, second is contour retrieval mode, third is contour approximation method. And it outputs
# the contours and hierarchy. Contours is a Python list of all the contours in the image. Each individual contour
# is a Numpy array of (x,y) coordinates of boundary points of the object.
lightcontours, hierarchy = cv2.findContours(edged, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# Checking if the list of contours is greater than 0 and if any circles are detected
if (len(lightcontours)):
# Finding the maxmimum contour, this is assumed to be the light beam
maxcontour = max(lightcontours, key=cv2.contourArea)
# Avoiding random spots of brightness by making sure the contour is reasonably sized
if cv2.contourArea(maxcontour):
(x, final_y), radius = cv2.minEnclosingCircle(maxcontour)
print "x value:",x,"y value:",final_y
t=Stepper(x,final_y)
s = Servo(final_y)
s.servo_control()
t.change_position()
cv2.circle(frame, (int(x), int(final_y)), int(radius), (0, 255, 0), 4)
cv2.rectangle(frame, (int(x) - 5, int(final_y) - 5), (int(x) + 5, int(final_y) + 5), (0, 128, 255), -1)
# Display frames and exit
cv2.imshow('frame', frame)
cv2.waitKey(0)
key = cv2.waitKey(1)
cv2.destroyAllWindows()
def __init__(self, driver_board, left_or_right, front_or_back, hip_knee_indices: HipKneeIndices, **kwargs):
assert left_or_right in LeftOrRight, 'Leg side must be in LeftOrRight! Val : {}'.format(left_or_right)
assert front_or_back in FrontOrBack, 'front_or_back must be in FrontOrBack! Val : {}'.format(front_or_back)
self.left_or_right = left_or_right
self.front_or_back = front_or_back
self.driver_board = driver_board
self.hip_servo_index = hip_knee_indices.hip
self.knee_servo_index = hip_knee_indices.knee
self.incr_pause = kwargs.get('incr_pause', 0.005)
self.phase_incr = 0.05 * 2 * pi
self.direction = 1 # should determine this from left_or_right etc
# I have to think about this side/direction stuff. Maybe it's a bad
# way of thinking about it, when it's really just 1D anyway (so really
# just diff phases, which I already have).
self.hip = Servo(
self.driver_board,
self.hip_servo_index,
direction=1,
servo_type='hip',
**kwargs
)
self.knee = Servo(
self.driver_board,
self.knee_servo_index,
direction=1,
servo_type='knee',
**kwargs
)
# Also, I DEFINITELY need to set their phases separately here. I think
# it'll probably be another top-down thing where the leg gets a phase,
# and then uses that to set the phases of the servos.
self.servos = [self.hip, self.knee]
self.phase = 0.
self.hip_phase_offset = 0.
if self.front_or_back == FrontOrBack.FRONT:
self.knee_phase_offset = 1 * pi/2
else:
self.knee_phase_offset = 3 * pi/2
def Servo(*args, **kwargs):
try:
from Servo import Servo as Servo
return Servo(*args, **kwargs)
except Exception as e:
print "Failed to Initialize Servo"
print "Error: %s" % e.message
print "Using Mock Servo"
from Servo_Mock import Servo as Servo_Mock
return Servo_Mock()
def parse(obj):
if "body_part" not in obj:
raise Exception("Could not parse JSON object")
if "disabled" in obj:
if obj["disabled"] is True:
return
servos.append(
Servo(obj["id"], obj["min_pulse"], obj["max_pulse"], obj["min_degree"],
obj["max_degree"], obj["default_angle"], obj["body_part"]))
def SetServos(self):
servos = []
servos.append(Servo('Deg0', 'Deg180', 2)) #SRV1
servos.append(Servo('Deg180', 'Deg90', 3)) #SRV2
servos.append(Servo('Deg90', 'Deg180', 4)) #SRV3
servos.append(Servo('Deg180', 'Deg90', 14)) #SRV4
servos.append(Servo('Deg180', 'Deg90', 15)) #SRV5
servos.append(Servo('Deg90', 'Deg180', 18)) #SRV6
servos.append(Servo('Deg180', 'Deg90', 23)) #SRV7
return servos
def __init__(self):
#Initiate servo objects
baseServo = Servo(self.BasePanIndex, self.BaseHomeAngle,
self.BaseMinAngle, self.BaseMaxAngle)
shoulderServo = Servo(self.ShoulderIndex, self.ShoulderHomeAngle,
self.ShoulderMinAngle, self.ShoulderMaxAngle)
elbowServo = Servo(self.ElbowIndex, self.ElbowHomeAngle,
self.ElbowMinAngle, self.ElbowMaxAngle)
wristPanServo = Servo(self.WristPanIndex, self.WristPanHomeAngle,
self.WristPanMinAngle, self.WristPanMaxAngle)
wristServo = Servo(self.WristIndex, self.WristHomeAngle,
self.WristMinAngle, self.WristMaxAngle)
gripperServo = Servo(self.GripperIndex, self.GripperHomeAngle,
self.GripperMinAngle, self.GripperMaxAngle)
#Populate servo list
self.m_servoList = [
baseServo, shoulderServo, elbowServo, wristPanServo, wristServo,
gripperServo
]
#set current servo index
self.m_currentServoIndex = 0
#Move to home position
self.HomePosition()
def run (self):
# s_joint = Servo(channel=0, min=250, max=327, freq=50)
# s_joint = Servo(channel=0, min=250, max=530, freq=100) # mg995
# time.sleep(4)
s_tilt = Servo(channel=1, min=250, max=327, freq=50)
time.sleep(1)
# s_pan = Servo(channel=2, min=250, max=380, freq=50)
s_pan = Servo(channel=2, min=300, max=380, freq=50)
# put your init and global variables here
# main loop
while 1:
headPosition = self.getInputs().headPosition
lampPosition = self.getInputs().lampPosition
s_tilt.move_to(1 - headPosition.y)
s_pan.move_to(1- headPosition.x)
# s_joint.move_to(lampPosition.z)
time.sleep(0.5)
pwm = PWM(0x40)
pwm.setPWMFreq(50)
pwm.softwareReset()
def main():
GPIO.setmode(GPIO.BOARD)
get_out = False
raspberry_pin = 11
my_servo = Servo(raspberry_pin)
while not get_out:
angle = input("Write an angle: ")
my_servo.write_angle(int(angle))
duty_cycke = input("Write duty cyccle: ")
my_servo.write_duty_cycle(float(duty_cycke))
def __init__(self):
_servo_type = {"Base": 0, "Leg": 2, "Arm": 4, "Neck": 6, "Head": 8}
self.pwm = PWM.PCA9685(
) # Initialise the PCA9685 using the default address (0x40).
self.pwm.set_pwm_freq(50)
# Create all the servos
self.servos = {}
for i in _servo_type.keys():
self.servos[i] = Servo(self.pwm, _servo_type[i])
print 'Servo "' + i + '" on channel ' + str(_servo_type[i])
self.scanThread = None
self.scan_event = threading.Event()
self.angryLock = threading.Lock()
self.angry = False
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.L3X = 0
self.L3Y = 0
self.R3X = 0
self.R3Y = 0
self.leftMotorPWM = 0
self.rightMotorPWM = 0
self.arrow = "None"
self.motor = Motor()
self.servo = Servo()
self.motor.InitMotorHw()
self.servo.InitServoHw()
self.BASESTEPSIZE = 5
def __init__(self, a):
# Open the serial device
self.dyn_chain = a
self.servos = Servo()
self.mik = MachineIK()
# self.labeler = Labeler()
self.INIT_TEST = False
self.VIEW_POS_RT = False
self.curr_joints = [
p for key, p in self.dyn_chain.get_position([1, 2, 4, 6]).items()
]
self.curr_pos = self.get_arm_pose()
class Head(object):
configuration = conf("Settings.ini")
jaw = Servo(
channel = int(configuration.get_setting("Jaw","channel")),
frequency = int(configuration.get_setting("Jaw","frequency")),
minPulseLength = int(configuration.get_setting("Jaw","minPulseLength")),
maxPulseLength = int(configuration.get_setting("Jaw","maxPulseLength"))
)
left_antenna = Servo(
channel = int(configuration.get_setting("LeftAntenna","channel")),
frequency = int(configuration.get_setting("LeftAntenna","frequency")),
minPulseLength = int(configuration.get_setting("LeftAntenna","minPulseLength")),
maxPulseLength = int(configuration.get_setting("LeftAntenna","maxPulseLength"))
)
right_antenna = Servo(
channel = int(configuration.get_setting("RightAntenna","channel")),
frequency = int(configuration.get_setting("RightAntenna","frequency")),
minPulseLength = int(configuration.get_setting("RightAntenna","minPulseLength")),
maxPulseLength = int(configuration.get_setting("RightAntenna","maxPulseLength"))
)
left_brow_Vertical = Servo(
channel = int(configuration.get_setting("LeftBrowVertical","channel")),
frequency = int(configuration.get_setting("LeftBrowVertical","frequency")),
minPulseLength = int(configuration.get_setting("LeftBrowVertical","minPulseLength")),
maxPulseLength = int(configuration.get_setting("LeftBrowVertical","maxPulseLength"))
)
right_brow_vertical = Servo(
channel = int(configuration.get_setting("RightBrowVertical","channel")),
frequency = int(configuration.get_setting("RightBrowVertical","frequency")),
minPulseLength = int(configuration.get_setting("RightBrowVertical","minPulseLength")),
maxPulseLength = int(configuration.get_setting("RightBrowVertical","maxPulseLength"))
)
left_brow_horizontal = Servo(
channel = int(configuration.get_setting("LeftBrowHorizontal","channel")),
frequency = int(configuration.get_setting("LeftBrowHorizontal","frequency")),
minPulseLength = int(configuration.get_setting("LeftBrowHorizontal","minPulseLength")),
maxPulseLength = int(configuration.get_setting("LeftBrowHorizontal","maxPulseLength"))
)
right_brow_horizontal = Servo(
channel = int(configuration.get_setting("RightBrowHorizontal","channel")),
frequency = int(configuration.get_setting("RightBrowHorizontal","frequency")),
minPulseLength = int(configuration.get_setting("RightBrowHorizontal","minPulseLength")),
maxPulseLength = int(configuration.get_setting("RightBrowHorizontal","maxPulseLength"))
)
def parse(self, obj):
# build a Servo object out of the data read from the JSON
# then append it into the global "servos" list
if "body_part" not in obj:
raise Exception("Could not parse JSON object")
if "disabled" in obj and obj["disabled"] == True:
d = True
else:
d = False
self.all_servos.append(
Servo(obj["id"],
obj["min_pulse"],
obj["max_pulse"],
obj["min_angle"],
obj["max_angle"],
obj["default_angle"],
obj["body_part"],
disabled=d))
def __init__(self, debug=False, db="config", bus_number=1, channel=FRONT_WHEEL_CHANNEL):
''' setup channels and basic stuff '''
self.db = fileDB(db=db)
self.channel = channel
self.straight_angle = 90
self.turning_max = 45
self.DEBUG_INFO = 'DEBUG "front_wheels.py":'
# self.turning_offset = int(self.db.get('turning_offset', default_value=0))
self.turning_offset = 25
self.wheel = Servo(self.channel, bus_number=bus_number, offset=self.turning_offset)
self.DEBUG = debug
self.set_turning_max(45)
self.min_angle=30
self.max_angle=150.
if self.DEBUG:
print(self.DEBUG_INFO, 'Front wheel PWM channel:', self.channel)
print(self.DEBUG_INFO, 'Front wheel offset value:', self.turning_offset)
self.angle = {"left":self.min_angle, "straight":self.straight_angle, "right":self.max_angle}
if self.DEBUG:
print(self.DEBUG_INFO, 'left angle: %s, straight angle: %s, right angle: %s' % (self.angle["left"], self.angle["straight"], self.angle["right"]))
def __init__(self, channels):
"""
Each leg has 3 servos/channels
"""
if not len(channels) == 3:
raise LegException('len(channels) != 3')
Servo.bulkServoWrite = True
# angle offsets to line up with fk
self.servos = []
for i in range(0, 3):
self.servos.append(Servo(channels[i]))
self.servos[i].setServoLimits(self.s_offsets[i], *self.s_limits[i])
self.sit_angles = self.convertRawAngles(*self.sit_raw)
# initAngles = [0, 0, -90+30] # nico legs have a small offset
# initAngles = [0, 45, -90+30-45] # nico legs have a small offset
initAngles = self.convertRawAngles(*self.stand_raw)
self.stand_angles = initAngles
self.foot0 = self.fk(*initAngles) # rest/idle position of the foot/leg
def main(argv='0'):
GPIO.setmode(GPIO.BOARD)
# Servo Parameters
raspberry_pin = 11
servo_model = 'MyOwn'
frequency = 50
max_angle = 180
min_pulse_width_in_millis = 1
args = (frequency, max_angle, min_pulse_width_in_millis)
my_own_servo = Servo(raspberry_pin, servo_model, *args)
my_own_servo.write_angle(180) # Move to position 180 º
time.sleep(1)
my_own_servo.write_angle(0) # Move to position 0 º
time.sleep(2)
my_desired_angle = int(argv[0])
my_own_servo.write_angle(my_desired_angle)
def __init__(self, printer):
super(HPX2MaxPlugin, self).__init__(printer)
logging.debug('Activating ' + __PLUGIN_NAME__ + ' plugin...')
# Add the servo
self.head_servo = Servo(
int(
self.printer.config.get(
type(self).__name__, 'servo_channel', 1)), 500, 750, 90,
10)
# Load the config for angles
self.t0_angle = float(
self.printer.config.get(
type(self).__name__, 'extruder_0_angle', 20))
self.t1_angle = float(
self.printer.config.get(
type(self).__name__, 'extruder_1_angle', 175))
# Override the changing tool command to trigger the servo
self.printer.processor.override_command('T0', T0_HPX2Max(self.printer))
self.printer.processor.override_command('T1', T1_HPX2Max(self.printer))
def __init__(self, driver_board, driver_index):
self.s = Servo(self.driver_board, self.hip_index, 1, type='bend')
outboundMessageQueue = MessageQueue()
lastReceivedMessageNumber = -1
currentReceivedMessageNumber = -1
stateStartTime = -1
# initialize motors
LOGGER.Debug("Initializing motor objects...")
leftMotor = Motor("LeftMotor", 1, MOTOR_MODES.K_PERCENT_VBUS)
rightMotor = Motor("RightMotor", 2, MOTOR_MODES.K_PERCENT_VBUS)
#initialize sensors
LOGGER.Debug("Initializing sensorobjects...")
#initialize servos
LOGGER.Debug("Initializing servo objects...")
cameraServo = Servo()
# initialize motor handler and add motors
LOGGER.Debug("Linking motors to motor handler...")
motorHandler.addMotor(leftMotor)
motorHandler.addMotor(rightMotor)
#Initialize sensor handler and add sensors and motors
LOGGER.Debug("Linking sensors and servos to sensor handler...")
sensorHandler.addServo(cameraServo)
#initialize encoder reset flags
driveEncoderResetFlag = False
scoopEncoderResetFlag = False
depthEncoderResetFlag = False
winchEncoderResetFlag = False
def __init__(self):
firmware_version = "1.1.8~Raw Deal"
logging.info("Redeem initializing " + firmware_version)
printer = Printer()
self.printer = printer
Path.printer = printer
printer.firmware_version = firmware_version
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error(
"/etc/redeem/default.cfg does not exist, this file is required for operation"
)
sys.exit() # maybe use something more graceful?
if not os.path.exists("/etc/redeem/local.cfg"):
logging.info("/etc/redeem/local.cfg does not exist, Creating one")
os.mknod("/etc/redeem/local.cfg")
# Parse the config files.
printer.config = CascadingConfigParser([
'/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'
])
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
# Set up additional logging, if present:
if self.printer.config.getboolean('System', 'log_to_file'):
logfile = self.printer.config.get('System', 'logfile')
formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s'
printer.redeem_logging_handler = logging.handlers.RotatingFileHandler(
logfile, maxBytes=2 * 1024 * 1024)
printer.redeem_logging_handler.setFormatter(
logging.Formatter(formatter))
printer.redeem_logging_handler.setLevel(level)
logging.getLogger().addHandler(printer.redeem_logging_handler)
logging.info("-- Logfile configured --")
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "00B3"
# We set it to 5 axis by default
Path.NUM_AXES = 5
if self.printer.config.reach_revision:
logging.info("Found Reach rev. " +
self.printer.config.reach_revision)
if self.printer.config.reach_revision == "00A0":
Path.NUM_AXES = 8
elif self.printer.config.reach_revision == "00B0":
Path.NUM_AXES = 7
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2", "00B3"]:
PWM.set_frequency(1000)
# Test the alarm framework
Alarm.printer = self.printer
Alarm.executor = AlarmExecutor()
alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational")
# Init the Watchdog timer
printer.watchdog = Watchdog()
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_disabled()
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
# Set up key listener
Key_pin.listener = Key_pin_listener(EndStop.inputdev)
for es in ["Z2", "Y2", "X2", "Z1", "Y1",
"X1"]: # Order matches end stop inversion mask in Firmware
pin = self.printer.config.get("Endstops", "pin_" + es)
keycode = self.printer.config.getint("Endstops", "keycode_" + es)
invert = self.printer.config.getboolean("Endstops", "invert_" + es)
self.printer.end_stops[es] = EndStop(printer, pin, keycode, es,
invert)
self.printer.end_stops[es].stops = self.printer.config.get(
'Endstops', 'end_stop_' + es + '_stops')
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
if self.revision == "00A3":
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, "X")
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, "Y")
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z")
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, "E")
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, "H")
elif self.revision == "00B1":
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B2":
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B3":
printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90,
11, 0, "X")
printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91,
12, 1, "Y")
printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92,
13, 2, "Z")
printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93,
14, 3, "E")
printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94,
15, 4, "H")
elif self.revision in ["00A4", "0A4A"]:
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, 0, "X")
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, 1, "Y")
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, 2, "Z")
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, 3, "E")
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, 4, "H")
# Init Reach steppers, if present.
if printer.config.reach_revision == "00A0":
printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18",
"GPIO0_14", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5",
"GPIO0_14", 6, 6, "B")
printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19",
"GPIO0_14", 7, 7, "C")
elif printer.config.reach_revision == "00B0":
printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5",
"GPIO0_3", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14",
"GPIO0_3", 6, 6, "B")
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.direction = printer.config.getint('Steppers',
'direction_' + name)
stepper.has_endstop = printer.config.getboolean(
'Endstops', 'has_' + name)
stepper.set_current_value(
printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(
printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(
printer.config.getint("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_max_' + name)
slave = printer.config.get('Steppers', 'slave_' + name)
if slave:
Path.add_slave(name, slave)
logging.debug("Axis " + name + " has slave " + slave)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = [
"Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial",
"C_radial", "A_tangential", "B_tangential", "C_tangential"
]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: " + str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-" + str(i)))
logging.info("Found Cold end " + str(i) + " on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_" + e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_" + e)
chart = self.printer.config.get("Heaters", "temp_chart_" + e)
resistance = self.printer.config.getfloat("Heaters",
"resistance_" + e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET " + e, chart,
resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_' + e)
prefix = self.printer.config.get('Heaters', 'prefix_' + e)
if e != "HBP":
self.printer.heaters[e] = Extruder(self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e,
onoff)
else:
self.printer.heaters[e] = HBP(self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat(
'Heaters', 'pid_p_' + e)
self.printer.heaters[e].I = self.printer.config.getfloat(
'Heaters', 'pid_i_' + e)
self.printer.heaters[e].D = self.printer.config.getfloat(
'Heaters', 'pid_d_' + e)
# Min/max settings
self.printer.heaters[e].min_temp = self.printer.config.getfloat(
'Heaters', 'min_temp_' + e)
self.printer.heaters[e].max_temp = self.printer.config.getfloat(
'Heaters', 'max_temp_' + e)
self.printer.heaters[
e].max_temp_rise = self.printer.config.getfloat(
'Heaters', 'max_rise_temp_' + e)
self.printer.heaters[
e].max_temp_fall = self.printer.config.getfloat(
'Heaters', 'max_fall_temp_' + e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2", "00B3"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
if printer.config.reach_revision == "00A0":
self.printer.fans.append(Fan(14))
self.printer.fans.append(Fan(15))
self.printer.fans.append(Fan(7))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while (printer.config.has_option("Servos", "servo_" + str(servo_nr) +
"_enable")):
if printer.config.getboolean("Servos",
"servo_" + str(servo_nr) + "_enable"):
channel = printer.config.get(
"Servos", "servo_" + str(servo_nr) + "_channel")
pulse_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_min")
pulse_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_max")
angle_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_min")
angle_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_max")
angle_init = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_init")
s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max,
angle_init)
printer.servos.append(s)
logging.info("Added servo " + str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
continue
if printer.config.getboolean(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f),
True) # Use ON/OFF on these.
c.ok_range = 4
opt_temp = "therm-{}-fan-{}-target_temp".format(t, f)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(
t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "add-fan-{}-to-M106".format(i)):
continue
if self.printer.config.getboolean('Cold-ends',
"add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan,
"Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
opt_temp = "cooler_{}_target_temp".format(ce)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info(
"Cooler connects temp sensor ds18b20 {} with fan {}"
.format(ce, f))
# Init roatray encs.
printer.filament_sensors = []
# Init rotary encoders
printer.rotary_encoders = []
for ex in ["E", "H", "A", "B", "C"]:
if not printer.config.has_option('Rotary-encoders',
"enable-{}".format(ex)):
continue
if printer.config.getboolean("Rotary-encoders",
"enable-{}".format(ex)):
logging.debug("Rotary encoder {} enabled".format(ex))
event = printer.config.get("Rotary-encoders",
"event-{}".format(ex))
cpr = printer.config.getint("Rotary-encoders",
"cpr-{}".format(ex))
diameter = printer.config.getfloat("Rotary-encoders",
"diameter-{}".format(ex))
r = RotaryEncoder(event, cpr, diameter)
printer.rotary_encoders.append(r)
# Append as Filament Sensor
ext_nr = Path.axis_to_index(ex) - 3
sensor = FilamentSensor(ex, r, ext_nr, printer)
alarm_level = printer.config.getfloat(
"Filament-sensors", "alarm-level-{}".format(ex))
logging.debug("Alarm level" + str(alarm_level))
sensor.alarm_level = alarm_level
printer.filament_sensors.append(sensor)
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n" +
str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat(
'Planner', 'max_speed_' + axis.lower())
Path.min_speeds[i] = printer.config.getfloat(
'Planner', 'min_speed_' + axis.lower())
Path.jerks[i] = printer.config.getfloat('Planner',
'max_jerk_' + axis.lower())
Path.home_speed[i] = printer.config.getfloat(
'Homing', 'home_speed_' + axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat(
'Homing', 'home_backoff_speed_' + axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat(
'Homing', 'home_backoff_offset_' + axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter(
)
Path.backlash_compensation[i] = printer.config.getfloat(
'Steppers', 'backlash_' + axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.printer, "/usr/bin/pasm")
printer.move_cache_size = printer.config.getfloat(
'Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat(
'Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat(
'Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat(
'Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
Path.acceleration[Path.axis_to_index(
axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[
axis] = printer.config.getfloat('Geometry',
'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (
Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X', 'Y', 'Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[
axis] = printer.config.getfloat('Geometry',
'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] = (
Path.soft_min[i]
if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X', 'Y', 'Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat(
'Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[
axis] = printer.path_planner.center_offset[axis]
if axis in ['X', 'Y', 'Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning(
"Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta"
)
if center_default:
logging.warning(
"Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta"
)
if home_default:
logging.warning(
"Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az, Bz, Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz,
Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X', 'Y', 'Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s" %
str(printer.path_planner.home_pos))
# Enable Stepper timeout
timeout = printer.config.getint('Steppers', 'timeout_seconds')
printer.swd = StepperWatchdog(printer, timeout)
if printer.config.getboolean('Steppers', 'use_timeout'):
printer.swd.start()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning(
"Neither tty0tty or socat is installed! No virtual tty pipes enabled"
)
scoopEncoderResetFlag = False
depthEncoderResetFlag = False
winchEncoderResetFlag = False
# initialize sensors
LOGGER.Debug("Initializing sensor objects...")
leftDriveCurrentSense = Sensor("LeftDriveCurrentSense")
rightDriveCurrentSense = Sensor("RightDriveCurrentSense")
collectorDepthCurrentSense = Sensor("CollectorDepthCurrentSense")
collectorScoopsCurrentSense = Sensor("CollectorScoopsCurrentSense")
winchMotorCurrentSense = Sensor("WinchMotorCurrentSense")
scoopReedSwitch = Sensor("ScoopReedSwitch")
bucketMaterialDepthSense = Sensor("BucketMaterialDepthSense")
#initialize servos
ratchetServo = Servo()
camServo1 = Servo()
camServo2 = Servo()
camServo3 = Servo()
camServo4 = Servo()
# initialize sensor handler and add sensors
LOGGER.Debug("Linking sensor objects to sensor handler...")
sensorHandler.addSensor(leftDriveCurrentSense)
sensorHandler.addSensor(rightDriveCurrentSense)
sensorHandler.addSensor(collectorDepthCurrentSense)
sensorHandler.addSensor(collectorScoopsCurrentSense)
sensorHandler.addSensor(winchMotorCurrentSense)
sensorHandler.addSensor(scoopReedSwitch)
sensorHandler.addSensor(bucketMaterialDepthSense)
