def exit(self):
self.running = False
self.printer.path_planner.force_exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
# Commit changes for the Steppers
Stepper.commit()
def exit(self):
self.running = False
self.printer.path_planner.force_exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
# Commit changes for the Steppers
Stepper.commit()
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 execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
self.printer.path_planner.update_steps_pr_meter()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
self.printer.path_planner.update_steps_pr_meter()
Stepper.commit()
def execute(self, g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
value = float(g.token_value(i))
if value > 0:
self.printer.steppers[axis].set_steps_pr_mm(value)
else:
logging.error('Steps per milimeter must be grater than zero.')
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
logging.debug("M350 on "+axis)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
Stepper.commit()
logging.debug("acceleration tables recreated")
def execute(self, g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
value = float(g.token_value(i))
if value > 0:
self.printer.steppers[axis].set_steps_pr_mm(value)
else:
logging.error('Steps per milimeter must be grater than zero.')
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
logging.debug("M350 on " + axis)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
Stepper.commit()
self.printer.path_planner.make_acceleration_tables()
logging.debug("acceleration tables recreated")
def execute(self, g):
self.printer.path_planner.wait_until_done()
if g.num_tokens() == 0:
# If no token is present, do this for all steppers
g.set_tokens(["X", "Y", "Z", "E", "H"])
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_disabled()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
if g.num_tokens() == 0:
g.set_tokens(["X", "Y", "Z", "E",
"H"]) # If no token is present, do this for all
# All steppers
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_disabled()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
self.printer.steppers["E"].set_disabled()
self.printer.steppers["H"].set_disabled()
Stepper.commit()
self.printer.plugins[__PLUGIN_NAME__].head_servo.set_angle(self.printer.plugins[__PLUGIN_NAME__].t1_angle, asynchronous=False)
self.printer.path_planner.set_extruder(1)
self.printer.current_tool = "H"
self.printer.steppers["E"].set_enabled()
self.printer.steppers["H"].set_enabled()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
self.printer.steppers["E"].set_disabled()
self.printer.steppers["H"].set_disabled()
Stepper.commit()
self.printer.plugins[__PLUGIN_NAME__].head_servo.set_angle(
self.printer.plugins[__PLUGIN_NAME__].t1_angle, asynchronous=False)
self.printer.path_planner.set_extruder(1)
self.printer.current_tool = "H"
self.printer.steppers["E"].set_enabled()
self.printer.steppers["H"].set_enabled()
Stepper.commit()
def __init__(self):
self.stepper = Stepper()
self.stepper_position_steps = 0
self.servos = Servos()
self.servo_channel_left = SERVO_CHANNEL_LEFT
self.servo_channel_right = SERVO_CHANNEL_RIGHT
self.servo_angles_left = [
LEFT_MIN_VERTICAL_ANGLE, LEFT_MAX_VERTICAL_ANGLE
]
self.servo_angles_right = [
RIGHT_MIN_VERTICAL_ANGLE, RIGHT_MAX_VERTICAL_ANGLE
]
# [hack:] fine adjust left servo
self.servos.servo_kit.servo[SERVO_CHANNEL_LEFT]._duty_range = 5820
def __init__(self, osc_ip='0.0.0.0', osc_port=12000):
"""Create our stepper object and osc server object"""
self.debug = True
# listen for OSC messages on port 12000 (Wekinator default)
self.stepper_count = 2 #4
# Pin order: [ENB|MS1|MS2|MS3|RST|SLP|STP|DIR]
self.stepper_A = Stepper([4, 5, 6, 7, 0, 0, 3, 2], "Stepper A",
self.stepper_time_interval_seconds)
self.stepper_B = Stepper([10, 11, 12, 13, 0, 0, 9, 26], "Stepper B",
self.stepper_time_interval_seconds)
self.stepper_C = Stepper([16, 17, 18, 19, 0, 0, 15, 14], "Stepper C",
self.stepper_time_interval_seconds)
self.stepper_D = Stepper([22, 23, 24, 25, 0, 0, 21, 20], "Stepper D",
self.stepper_time_interval_seconds)
print "Created 4 steppers"
self.OSCServer = OSC.OSCServer((osc_ip, osc_port))
self.OSCServer.addMsgHandler('/wek/outputs', self.wek_outputs_handler)
self.OSCServer.addMsgHandler('/tenta_emg', self.tenta_emg_handler)
print "Tentacle Control is listening for OSC message /wek/outputs, ip %s port %s" % (
osc_ip, osc_port)
def new_child(conn, params):
stepper = Stepper(params)
while 1:
s = conn.recv()
if s=='RUN':
runres=stepper.run()
conn.send(runres)
elif s=='RESET':
stepper.reset_params(params)
elif s=="DESTROY":
return 0
else:
param, val = s.split()
if param in ('steps_pin', 'dir_pin', 'steps2sync', 'steps', 'dir'):
val = int(val)
elif param in ('interval'):
val = float(val)
params[param]=val
class CameraMount:
def __init__(self):
self.stepper = Stepper()
self.stepper_position_steps = 0
self.servos = Servos()
self.servo_channel_left = SERVO_CHANNEL_LEFT
self.servo_channel_right = SERVO_CHANNEL_RIGHT
self.servo_angles_left = [
LEFT_MIN_VERTICAL_ANGLE, LEFT_MAX_VERTICAL_ANGLE
]
self.servo_angles_right = [
RIGHT_MIN_VERTICAL_ANGLE, RIGHT_MAX_VERTICAL_ANGLE
]
# [hack:] fine adjust left servo
self.servos.servo_kit.servo[SERVO_CHANNEL_LEFT]._duty_range = 5820
def __del__(self):
del self.stepper
del self.servos
def rotateHorizontal(self, angle):
angle = min(MAX_HORIZONTAL_ANGLE, max(MIN_HORIZONTAL_ANGLE, angle))
steps_target = angle * STEPPER_STEPS_PER_ANGLE
steps_diff = steps_target - self.stepper_position_steps
self.stepper.step(int(abs(steps_diff)), steps_diff < 0)
self.stepper_position_steps = steps_target
def rotateVerticalLeft(self, angle):
self.rotateVertical(self.servo_channel_left, angle,
self.servo_angles_left)
def rotateVerticalRight(self, angle):
self.rotateVertical(self.servo_channel_right, angle,
self.servo_angles_right)
def rotateVertical(self, channel, angle, servo_angles):
angle = min(MAX_VERTICAL_ANGLE, max(MIN_VERTICAL_ANGLE, angle))
ratio = (angle - MIN_VERTICAL_ANGLE) / (MAX_VERTICAL_ANGLE -
MIN_VERTICAL_ANGLE)
servo_angle = servo_angles[0] + ratio * (servo_angles[1] -
servo_angles[0])
self.servos.rotate(channel, servo_angle)
def __init__(self, serial, first_id, num_steppers, is_mono=False):
self.serial = serial
self.numNotes = 0
self.numOldNotes = 0
self.oldNotesStack = [None] * NOTES_BUFFER_SZ
self.oldVolumesStack = [None] * NOTES_BUFFER_SZ
self.isMono = is_mono
self.numSteppers = num_steppers
self.steppers = []
for i in range(first_id, first_id + self.numSteppers):
self.steppers.append(Stepper(i, serial))
def exit(self):
logging.info("Redeem starting exit")
self.running = False
self.printer.path_planner.wait_until_done()
self.printer.path_planner.force_exit()
# Stops plugins
self.printer.plugins.exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
Stepper.commit()
for name, heater in self.printer.heaters.iteritems():
logging.debug("closing "+name)
heater.disable()
for name, comm in self.printer.comms.iteritems():
logging.debug("closing "+name)
comm.close()
self.printer.enable.set_disabled()
logging.info("Redeem exited")
def exit(self):
logging.info("Redeem starting exit")
self.running = False
self.printer.path_planner.wait_until_done()
self.printer.path_planner.force_exit()
# Stops plugins
self.printer.plugins.exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
Stepper.commit()
for name, heater in self.printer.heaters.iteritems():
logging.debug("closing "+name)
heater.disable()
for name, comm in self.printer.comms.iteritems():
logging.debug("closing "+name)
comm.close()
self.printer.enable.set_disabled()
logging.info("Redeem exited")
class StepperController(object):
def __init__(self):
self.faces = ['F', 'R', 'B', 'L', 'U', 'D']
self.slice_turns= {
"M" : ("X'", ["R", "L'"]),
"M'": ("X", ["R'", "L"]),
"M2": ("X2", ["R2", "L2"]),
"E" : ("Y'", ["U", "D'"]),
"E'": ("Y", ["U'", "D"]),
"E2": ("Y2", ["U2", "D2"]),
"S" : ("Z", ["F'", "B"]),
"S'": ("Z'", ["F", "B'"])
"S2": ("Z2", ["F2", "B2"])
}
self.whole_cube_rotations = {
"X" : [["F", "D", "B", "U"]],
"X'": [["F", "U", "B", "D"]],
"X2": [["F", "B"], ["U", "D"]],
"Y" : [["F", "R", "B", "L"]],
"Y'": [["F", "L", "B", "R"]],
"Y2": [["F", "B"], ["L", "R"]],
"Z" : [["U", "L", "D", "R"]]
"Z'": [["U", "R", "D", "L"]],
"Z2": [["U", "D"], ["R", "L"]],
}
self.steppers = {
'F' : Stepper([20, 21, 16], default_cw = False), #4
'R' : Stepper([ 7, 12, 8], default_cw = False), #6
'B' : Stepper([23, 24, 25], default_cw = False), #5
'L' : Stepper([19, 26, 13], default_cw = False), #3
'U' : Stepper([17, 27, 3], default_cw = False), #1
'D' : Stepper([ 5, 6, 22], default_cw = False) #2
}
def __init__(self):
logging.info("Redeem initializing "+version)
self.printer = Printer()
# Parse the config
self.printer.config = CascadingConfigParser(['/etc/redeem/default.cfg', '/etc/redeem/local.cfg'])
# Get the revision from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
logging.info("Replicape revision "+self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops","inputdev");
if self.revision == "A4":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4" , 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0,0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1,1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2,2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", None,3,3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", None,4,4)
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(self.printer.config.getfloat('Steppers', 'current_'+name))
if self.printer.config.getboolean('Steppers', 'enabled_'+name):
stepper.set_enabled()
else:
stepper.set_disabled()
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.printer.config.getint('Steppers', 'microstepping_'+name))
stepper.direction = self.printer.config.getint('Steppers', 'direction_'+name)
stepper.set_decay(self.printer.config.getboolean("Steppers", "slow_decay_"+name))
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 1"))
logging.info("Found Cold end on "+path)
else:
logging.info("No cold end present in path: "+path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(4)
mosfet_hbp = Mosfet(5)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].set_p_value(self.printer.config.getfloat('Heaters', "ext1_pid_p"))
self.printer.heaters['E'].set_d_value(self.printer.config.getfloat('Heaters', "ext1_pid_d"))
self.printer.heaters['E'].set_i_value(self.printer.config.getfloat('Heaters', "ext1_pid_i"))
self.printer.heaters['E'].ok_range = self.printer.config.getfloat('Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].set_p_value(self.printer.config.getfloat('Heaters', "hbp_pid_p"))
self.printer.heaters['HBP'].set_d_value(self.printer.config.getfloat('Heaters', "hbp_pid_i"))
self.printer.heaters['HBP'].set_i_value(self.printer.config.getfloat('Heaters', "hbp_pid_d"))
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat('Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].set_p_value(self.printer.config.getfloat('Heaters', "ext2_pid_p"))
self.printer.heaters['H'].set_d_value(self.printer.config.getfloat('Heaters', "ext2_pid_i"))
self.printer.heaters['H'].set_i_value(self.printer.config.getfloat('Heaters', "ext2_pid_d"))
self.printer.heaters['H'].ok_range = self.printer.config.getfloat('Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans=[]
if self.revision == "A3":
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
self.printer.fans.append(Fan(0))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Virtual TTY
self.pipe = Pipe(self.commands)
#self.pipe.set_send_reponse(False)
self.ethernet = Ethernet(self.commands)
# Init the path planner
Path.axis_config = int(self.printer.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed_x = float(self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed_y = float(self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed_z = float(self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed_e = float(self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed_h = float(self.printer.config.get('Steppers', 'home_speed_h'))
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.revision,self.printer.config,"/usr/bin/pasm")
self.printer.path_planner = PathPlanner(self.printer.steppers, pru_firmware)
self.printer.path_planner.set_acceleration(float(self.printer.config.get('Steppers', 'acceleration')))
travel={}
offset={}
for axis in ['X','Y','Z']:
travel[axis] = self.printer.config.getfloat('Geometry', 'travel_'+axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry', 'offset_'+axis.lower())
self.printer.path_planner.set_travel_length(travel)
self.printer.path_planner.set_center_offset(offset)
self.printer.processor = GCodeProcessor(self.printer);
# After the firmwares are loaded, the endstop states can be updated.
for k, endstop in self.printer.end_stops.iteritems():
logging.debug("Endstop "+endstop.name+" hit? : "+ str(endstop.read_value()))
self.running = True
# Signal everything ready
logging.info("Redeem ready")
def execute(self, g):
for i in range(g.num_tokens()):
self.printer.steppers[g.token_letter(i)].\
set_current_value(float(g.token_value(i)))
Stepper.commit()
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(5) # Argument is channel number
self.mosfet_ext2 = Mosfet(3)
self.mosfet_hbp = Mosfet(4)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(8)
self.fan_2 = Fan(9)
self.fan_3 = Fan(10)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["X1"] = EndStop("GPIO3_21", self.steppers, 112, "X1")
self.end_stops["X2"] = EndStop("GPIO0_30", self.steppers, 113, "X2")
self.end_stops["Y1"] = EndStop("GPIO1_17", self.steppers, 114, "Y1")
self.end_stops["Y2"] = EndStop("GPIO1_19", self.steppers, 115, "Y2")
self.end_stops["Z1"] = EndStop("GPIO0_31", self.steppers, 116, "Z1")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 117, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
class Osc2Steppers:
"""Class that listens for OSC messages, and forwards them as target positions for stepper motors"""
stepper_time_interval_seconds = 0.02
def __init__(self, osc_ip='0.0.0.0', osc_port=12000):
"""Create our stepper object and osc server object"""
self.debug = True
# listen for OSC messages on port 12000 (Wekinator default)
self.stepper_count = 2 #4
# Pin order: [ENB|MS1|MS2|MS3|RST|SLP|STP|DIR]
self.stepper_A = Stepper([4, 5, 6, 7, 0, 0, 3, 2], "Stepper A",
self.stepper_time_interval_seconds)
self.stepper_B = Stepper([10, 11, 12, 13, 0, 0, 9, 26], "Stepper B",
self.stepper_time_interval_seconds)
self.stepper_C = Stepper([16, 17, 18, 19, 0, 0, 15, 14], "Stepper C",
self.stepper_time_interval_seconds)
self.stepper_D = Stepper([22, 23, 24, 25, 0, 0, 21, 20], "Stepper D",
self.stepper_time_interval_seconds)
print "Created 4 steppers"
self.OSCServer = OSC.OSCServer((osc_ip, osc_port))
self.OSCServer.addMsgHandler('/wek/outputs', self.wek_outputs_handler)
self.OSCServer.addMsgHandler('/tenta_emg', self.tenta_emg_handler)
print "Tentacle Control is listening for OSC message /wek/outputs, ip %s port %s" % (
osc_ip, osc_port)
def go(self):
"""Start steppers self-updating, and start our OSC server listening"""
#self.stepper_A.go()
self.stepper_B.go()
self.stepper_C.go()
self.stepper_D.go()
self.OSCServer.serve_forever()
def tenta_emg_handler(self, addr, tags, data, client_address):
emg_avg = data[0]
if emg_avg < 125:
self.stepper_D.move_to_position(0) #position of closed
elif emg_avg < 300:
pos_interp = 0 - ((emg_avg - 125) / float(300 - 125)) * 200
self.stepper_D.move_to_position(pos_interp) #in between
else:
self.stepper_D.move_to_position(-200) #position of closed
def wek_outputs_handler(self, addr, tags, data, client_address):
"""Callback that is called when we receive an osc message with path '/wek/outputs'"""
# 0 controls back and front
# 1 controls side to side
data[0] *= 200
data[1] *= 200
if self.debug:
print "OSCMessage '%s' from %s: %s" % (addr, client_address, data)
if (len(data) != self.stepper_count):
print "Error: Expected %s OSC values, got %s" % (
self.stepper_count, len(data))
return
# HERE'S THE MAGIC!
# Pass on values to our stepper motors
#self.stepper_A.move_to_position(data[0])
self.stepper_B.set_delay()
self.stepper_B.move_to_position(data[0])
#self.stepper_C.move_to_position(data[2])
self.stepper_C.set_delay()
self.stepper_C.move_to_position(data[1])
time.sleep(1)
systemData = SystemData()
time.sleep(1)
weather = Weather()
time.sleep(1)
#Actuators
outsideFan = TimedDigitalActuator(20)
time.sleep(1)
insideFan = TimedDigitalActuator(21)
time.sleep(1)
humidifier = TimedDigitalActuator(16)
time.sleep(1)
hatch = Hatch()
time.sleep(1)
stepper = Stepper()
time.sleep(1)
#picture
picture = Picture("Plant1")
#silencer
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(12, GPIO.IN, pull_up_down=GPIO.PUD_UP)
timeToSilence = 0
alloff = False
while True:
if not GPIO.input(12):
def execute(self,g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_steps_pr_mm(float(g.token_value(i)))
Stepper.commit()
def execute(self, g):
for i in range(g.num_tokens()):
self.printer.steppers[g.token_letter(i)].set_microstepping(int(g.token_value(i)))
Stepper.commit()
return configFile_0
if __name__ == '__main__':
from Printer import Printer
from EndStop import EndStop
from Stepper import Stepper, Stepper_00A3, Stepper_00A4, Stepper_00B1, Stepper_00B2, Stepper_00B3
from CascadingConfigParser import CascadingConfigParser
printer = Printer()
# Parse the config files.
printer.config = CascadingConfigParser(['/etc/redeem/default.cfg'])
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, 0,
"X")
printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, 1,
"Y")
printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2,
"Z")
printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, 3,
"E")
printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, 4,
"H")
printer.steppers["A"] = Stepper("GPIO2_2", "GPIO1_18", "GPIO0_14", 5, 5,
"A")
printer.steppers["B"] = Stepper("GPIO1_16", "GPIO0_5", "GPIO0_14", 6, 6,
"B")
printer.steppers["C"] = Stepper("GPIO0_3", "GPIO3_19", "GPIO0_14", 7, 7,
"C")
def execute(self, g):
self.printer.path_planner.wait_until_done()
for name, stepper in self.printer.steppers.iteritems():
if self.printer.config.getboolean('Steppers', 'in_use_' + name):
stepper.set_enabled()
Stepper.commit()
def main(argv):
print argv
while True:
frame = vs.read() # creates CV2 frame
frame = imutils.resize(frame, width=400) # frame resolution = 400x400
# 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
# 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 # printing location of spot
# Stepper class is responsible for determining if the current location of the brightest spot is
# too far from the center and determines how far the stepper should move to accomodate for
# finding the brightest spot
t = Stepper(
x, final_y) # imports current location into Stepper class
t.change_position()
cv2.circle(frame, (int(x), int(final_y)), int(radius),
(0, 255, 0), 4) # draws a circle
cv2.rectangle(
frame, (int(x) - 5, int(final_y) - 5),
(int(x) + 5, int(final_y) + 5), (0, 128, 255),
-1) # determining the size f the frame space of frame
# Display frames and exit
# cv2.imshow('light', thr)
cv2.imshow('frame', frame) # shows frame with newly imposed circle
cv2.waitKey(4)
key = cv2.waitKey(1)
if cv2.waitKey(1) & 0xFF == ord(
'q'): # command to quit from current viewing of frame
break
cap.release()
cv2.destroyAllWindows() # KILLS PROGRAM
from PIL import Image
from Trainer import DataTrainer, ImageSequencer
from Stepper import Stepper
trainer = DataTrainer()
stepper = Stepper()
raw_file = open("data/training/wikipedia_cassettes.txt", 'r')
raw_data = raw_file.read()
raw_file.close()
x = trainer.train_text_data(
raw_text=raw_data,
order=2,
)
phrase = stepper.new_phrase(model=x, eol='EOL', punc=['!', '.', '?'])
print(phrase)
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter("F"))/60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
if g.hasLetter("E") and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement, g.is_crc())# Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE", False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0", "H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate, "G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
Stepper.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
Stepper.commit()
elif g.code() == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(float(g.tokenValue(i)))
Stepper.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
Stepper.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
Stepper.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to "+str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to "+str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:"+str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:"+str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:"+str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(float(g.getValueByLetter("S"))/255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0))/255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M109":
self.hbp.setTargetTemperature(float(g.getValueByLetter("S")))
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: "+' '.join('%s:%s' % i for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M190":
self.hbp.setTargetTemperature(float(g.getValueByLetter("S")))
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: "+g.message)
from Stepper import Stepper
# TEST FILE FOR DETERMINING IF IT WORKS
# ONLY RUN THIS FILE
t = Stepper(0, 0)
#print t.x_raw
#print t.y_raw
#t.change_position()
#t.forward(4,40)
t.run()
#t.forward(19,4)
#steps = raw_input("How many steps forward? ")
# Testing (The delay value has to be divided by 1000 to achieve the desired delay)
#t.backwards(int(Stepper.delay) / 1000.0, int(steps))
def execute(self, g):
for i in range(g.num_tokens()):
self.printer.steppers[g.token_letter(i)].\
set_current_value(float(g.token_value(i)))
Stepper.commit()
def execute(self,g):
self.printer.path_planner.wait_until_done()
for name, stepper in self.printer.steppers.iteritems():
if self.printer.config.getboolean('Steppers', 'enabled_'+name):
stepper.set_enabled()
Stepper.commit()
steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y",1,None,1,1)
steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z",1,None,2,2)
steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1",-1,None,3,3)
steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2",-1,None,4,4)
config = ConfigParser.ConfigParser()
config.readfp(open('config/default.cfg'))
for name, stepper in steppers.iteritems():
stepper.setCurrentValue(config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(1)
# Commit changes for the Steppers
Stepper.commit()
Path.axis_config = int(config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(config.get('Steppers', 'max_speed_h'))
current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
pp = Path_planner(steppers, current_pos)
pp.set_acceleration(0.3)
nb = 10
circles = cv2.HoughCircles(threshold, cv2.cv.CV_HOUGH_GRADIENT, 1.0, 20,
param1=10,
param2=15,
minRadius=20,
maxRadius=100, )
# 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)
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('light', thr)
cv2.imshow('frame', frame)
cv2.waitKey(4)
key = cv2.waitKey(1)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
from Stepper import Stepper
from time import sleep
EN_PIN = 23
STP_PIN = 27
DIR_PIN = 22
stepper = Stepper(23, 27, 22)
def main():
print("Setting Up...")
stepper.step('left', 90)
sleep(1)
stepper.step('right', 180)
print("Ran...")
stepper.cleanupPins()
if __name__ == "__main__":
try:
main()
except KeyboardInterrupt:
stepper.cleanupPins()
print("interrupted...")
pass
# Initiate IO
GPIO.setwarnings(False)
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
def registerGPIO(pins):
for pin in pins:
GPIO.setup(pin, GPIO.OUT)
GPIO.output(pin, False)
HPins = [17, 27, 22, 23]
VPins = [6, 13, 19, 26]
Hori = Stepper(HPins)
Vert = Stepper(VPins)
steppers = [Hori, Vert]
registerGPIO(HPins)
registerGPIO(VPins)
# Breathe
time.sleep(0.5)
# Main program
createThread(Hori.moveTo, -300)
createThread(Vert.moveTo, 150)
startAllThreads()
clearThreads()
def main(argv):
bright_values = {} # creates an array of the brightest values
count = 0
while True:
if count == 7: # looks for 7 different spots
break
frame = vs.read() # reads the frame from the OpenCV object
frame = imutils.resize(
frame, width=400
) # resizing the frame in case frame was changed previously
# 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)
# 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
out, threshold = cv2.threshold(blur, brightest_value - 10, 230,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
time.sleep(1)
if os.path.isfile('mem.txt'): # finds txt file
fp = open("mem.txt", 'r')
current_val = [int(n) for n in fp.read().split()
] # reads current position
print "current_val", current_val[0], "out", out
bright_values[int(
current_val[0])] = out # found the brightest value and storing
else:
bright_values[257] = out
count = count + 1 # counter to happen 7 times
t = Stepper(0, 0)
t.change_position_scan() # moves stepper to scan
print bright_values
i = 0
for w in sorted(bright_values, key=bright_values.get,
reverse=True): # sorts the 7 brightest values
if i > 0:
break
print w, bright_values[w] # prints all values
required_pos = w
i = i + 1
print "required_pos", required_pos
t.return_to_bright_spot(required_pos) # found required spot
while True:
frame = vs.read()
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) # drawing circle
print "x value:", x, "y value:", final_y
t = Stepper(x, final_y)
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) # creating frame
# Display frames and exit
# cv2.imshow('light', thr)
cv2.imshow('frame', frame) # showing frame
cv2.waitKey(4)
key = cv2.waitKey(1)
if cv2.waitKey(1) & 0xFF == ord('q'): # q TERMINATES PROGRAM
break
cap.release()
cv2.destroyAllWindows() # KILLS ALL WINDOWS
if __name__ == '__main__':
from Stepper import Stepper
from Path import Path
import cProfile
import ConfigParser
logging.basicConfig(
level=logging.DEBUG,
format='%(asctime)s %(name)-12s %(levelname)-8s %(message)s',
datefmt='%m-%d %H:%M')
print "Making steppers"
steppers = {}
steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", -1,
None, 0, 0)
steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", 1, None,
1, 1)
steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 1,
None, 2, 2)
steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", -1,
None, 3, 3)
steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", -1,
None, 4, 4)
config = ConfigParser.ConfigParser()
config.readfp(open('config/default.cfg'))
for name, stepper in steppers.iteritems():
stepper.setCurrentValue(config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
import argparse, os, pickle
from PIL import Image
from Trainer import DataTrainer, ImageSequencer
from Stepper import Stepper
trainer = DataTrainer()
stepper = Stepper()
img_sequencer = ImageSequencer()
parser = argparse.ArgumentParser(description='Collect and curate a dataset of images.')
parser.add_argument('directory', nargs=1)
parser.add_argument('--size', nargs=2, type=int)
parser.add_argument('--norder', nargs=1, type=int)
parser.add_argument('--pickle', nargs=1, type=bool)
args = parser.parse_args()
directory = args.directory[0]
im_width, im_height = args.size
norder = args.norder[0]
try:
should_pickle = args.pickle[0]
except:
should_pickle = False
pickle_file_name = "{width}-{height}-{norder}.pickle".format(width=im_width, height=im_height, norder=norder)
pickled_data = {}
preexisting_pickle = False
# checks for and loads pickle
if should_pickle:
time.sleep(1)
systemData = SystemData()
time.sleep(1)
weather = Weather()
time.sleep(1)
#Actuators
outsideFan = TimedDigitalActuator(20)
time.sleep(1)
insideFan = TimedDigitalActuator(21)
time.sleep(1)
humidifier = TimedDigitalActuator(16)
time.sleep(1)
hatch = Hatch()
time.sleep(1)
stepper = Stepper()
time.sleep(1)
#picture
picture = Picture("Plant1")
#silencer
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(12, GPIO.IN, pull_up_down=GPIO.PUD_UP)
timeToSilence = 0
alloff = False
while True:
if not GPIO.input(12):
def main(argv):
bright_values = {} # creates an array of the brightest values
count = 0
while True:
if count == 7: # looks for 7 different spots
break
frame = vs.read() # reads the frame from the OpenCV object
frame = imutils.resize(
frame, width=400
) # resizing the frame in case frame was changed previously
# 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)
# 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
out, threshold = cv2.threshold(blur, brightest_value - 10, 230,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
time.sleep(1)
if os.path.isfile('mem.txt'): # finds txt file
fp = open("mem.txt", 'r')
current_val = [int(n) for n in fp.read().split()
] # reads current position
print "current_val", current_val[0], "out", out
bright_values[int(
current_val[0])] = out # found the brightest value and storing
else:
bright_values[257] = out
count = count + 1 # counter to happen 7 times
t = Stepper(0, 0)
t.change_position_scan() # moves stepper to scan
print bright_values
i = 0
for w in sorted(bright_values, key=bright_values.get,
reverse=True): # sorts the 7 brightest values
if i > 0:
break
print w, bright_values[w] # prints all values
required_pos = w
i = i + 1
print "required_pos", required_pos
t.return_to_bright_spot(required_pos) # found required spot
while True:
frame = vs.read()
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, (39, 39), 0)
cv2.imshow("blur", blur)
# copy = frame.copy()
# 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-200
# 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
out, threshold = cv2.threshold(blur, brightest_value - 10, 230,
cv2.THRESH_BINARY)
# print "Threshold:", out2
thr = threshold.copy()
# 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.
# Possible second parameter options
# RETR_EXTERNAL
# retrieves only the extreme outer contours. It sets hierarchy[i][2]=hierarchy[i][3]=-1 for all the contours.
# RETR_LIST
# retrieves all of the contours without establishing any hierarchical relationships.
# RETR_CCOMP
# retrieves all of the contours and organizes them into a two-level hierarchy. At the top level, there are external boundaries of the components. At the second level, there are boundaries of the holes. If there is another contour inside a hole of a connected component, it is still put at the top level.
# RETR_TREE
# retrieves all of the contours and reconstructs a full hierarchy of nested contours.
# RETR_FLOODFILL
# Possible 3 parameter options
# CHAIN_APPROX_NONE
# stores absolutely all the contour points. That is, any 2 subsequent points (x1,y1) and (x2,y2) of the contour will be either horizontal, vertical or diagonal neighbors, that is, max(abs(x1-x2),abs(y2-y1))==1.
# CHAIN_APPROX_SIMPLE
# compresses horizontal, vertical, and diagonal segments and leaves only their end points. For example, an up-right rectangular contour is encoded with 4 points.
# CHAIN_APPROX_TC89_L1
# applies one of the flavors of the Teh-Chin chain approximation algorithm [151]
# CHAIN_APPROX_TC89_KCOS
# applies one of the flavors of the Teh-Chin chain approximation algorithm [151]
lightcontours, hierarchy = cv2.findContours(edged, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contour = []
# print contour
# print "length of lightcontours:", len(lightcontours)
# print "length of contour:", len(contour)
# print "Number of contours:", len(lightcontours)
# # Checking if the list of contours is greater than 0 and if any circles are detected
# print "range(len(con)):", range(len(lightcontours))
for i in range(len(lightcontours)):
(x, final_y), radius = cv2.minEnclosingCircle(lightcontours[i])
print "First Time-----", "x value:", x, "y value", final_y, "radius", radius
if radius < 20:
print "Inside special if statement"
contour.append(lightcontours[i])
else:
continue
print "Length of numpy array containing all light contours:", len(
lightcontours)
print "Length of list containing contours with specified radius:", len(
contour)
print contour
if (len(contour) > 0):
# Finding the maxmimum contour, this is assumed to be the light beam
maxcontour = max(contour, 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 + 20),
(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('light', thr)
cv2.imshow('frame', frame)
cv2.waitKey(4)
key = cv2.waitKey(1)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config files.
self.printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Get the revision and loglevel from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev");
if self.revision == "A4" or self.revision == "A4A":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1",
self.printer.config.getboolean(
"Endstops",
"invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2",
self.printer.config.getboolean(
"Endstops",
"invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1",
self.printer.config.getboolean(
"Endstops",
"invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2",
self.printer.config.getboolean(
"Endstops",
"invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 123, "Z1",
self.printer.config.getboolean(
"Endstops",
"invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2",
self.printer.config.getboolean(
"Endstops",
"invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1",
self.printer.config.getboolean(
"Endstops",
"invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2",
self.printer.config.getboolean(
"Endstops",
"invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1",
self.printer.config.getboolean(
"Endstops",
"invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2",
self.printer.config.getboolean(
"Endstops",
"invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 123, "Z1",
self.printer.config.getboolean(
"Endstops",
"invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2",
self.printer.config.getboolean(
"Endstops",
"invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "E", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "H", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
stepper.in_use = self.printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint('Steppers',
'direction_' + name)
stepper.set_decay(self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
stepper.has_endstop = self.printer.config.getboolean('Endstops',
'has_' + name)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters',
"ext1_temp_chart"))
therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters',
"hbp_temp_chart"))
therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters',
"ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 0"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(5)
mosfet_hbp = Mosfet(4)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"],
therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean(
'Heaters',
'ext1_onoff_control'))
self.printer.heaters['E'].P = self.printer.config.getfloat('Heaters',
"ext1_pid_p")
self.printer.heaters['E'].I = self.printer.config.getfloat('Heaters',
"ext1_pid_i")
self.printer.heaters['E'].D = self.printer.config.getfloat('Heaters',
"ext1_pid_d")
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(therm_hbp, mosfet_hbp,
self.printer.config.getboolean(
'Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].P = self.printer.config.getfloat('Heaters',
"hbp_pid_p")
self.printer.heaters['HBP'].I = self.printer.config.getfloat('Heaters',
"hbp_pid_i")
self.printer.heaters['HBP'].D = self.printer.config.getfloat('Heaters',
"hbp_pid_d")
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"],
therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean(
'Heaters',
'ext2_onoff_control'))
self.printer.heaters['H'].P = self.printer.config.getfloat('Heaters',
"ext2_pid_p")
self.printer.heaters['H'].I = self.printer.config.getfloat('Heaters',
"ext2_pid_i")
self.printer.heaters['H'].D = self.printer.config.getfloat('Heaters',
"ext2_pid_d")
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Connect the cold end 0 to fan 2
# This is very "Thing" specific, should be configurable somehow.
if len(self.printer.cold_ends):
self.printer.coolers.append(
Cooler(self.printer.cold_ends[0], self.printer.fans[2],
"Cooler0", False))
self.printer.coolers[0].ok_range = 4
self.printer.coolers[0].set_target_temperature(60)
self.printer.coolers[0].enable()
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.unbuffered_commands = JoinableQueue(10)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speeds[0] = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speeds[1] = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speeds[2] = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speeds[3] = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speeds[4] = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed[0] = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed[1] = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed[2] = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed[3] = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed[4] = float(
self.printer.config.get('Steppers', 'home_speed_h'))
Path.steps_pr_meter[0] = self.printer.steppers[
"X"].get_steps_pr_meter()
Path.steps_pr_meter[1] = self.printer.steppers[
"Y"].get_steps_pr_meter()
Path.steps_pr_meter[2] = self.printer.steppers[
"Z"].get_steps_pr_meter()
Path.steps_pr_meter[3] = self.printer.steppers[
"E"].get_steps_pr_meter()
Path.steps_pr_meter[4] = self.printer.steppers[
"H"].get_steps_pr_meter()
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.revision, self.printer.config, "/usr/bin/pasm")
self.printer.maxJerkXY = float(
self.printer.config.get('Steppers', 'maxJerk_xy'));
self.printer.maxJerkZ = float(
self.printer.config.get('Steppers', 'maxJerk_z'));
self.printer.maxJerkEH = float(
self.printer.config.get('Steppers', 'maxJerk_eh'));
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
travel = {}
offset = {}
i = 0
for axis in ['X', 'Y', 'Z', 'E', 'H']:
travel[axis] = self.printer.config.getfloat('Geometry',
'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry',
'offset_' + axis.lower())
self.printer.acceleration[i] = self.printer.config.getfloat('Steppers', 'acceleration_' + axis.lower())
i += 1
self.printer.path_planner.travel_length = travel
self.printer.path_planner.center_offset = offset
self.printer.processor = GCodeProcessor(self.printer)
# Set up communication channels
self.printer.comms["USB"] = USB(self.printer)
self.printer.comms["Eth"] = Ethernet(self.printer)
self.printer.comms["octoprint"] = Pipe(self.printer,
"octoprint") # Pipe for Octoprint
self.printer.comms["toggle"] = Pipe(self.printer,
"toggle") # Pipe for Toggle
self.printer.comms["testing"] = Pipe(self.printer,
"testing") # Pipe for testing
self.printer.comms["testing_noret"] = Pipe(self.printer,
"testing_noret") # Pipe for testing
self.printer.comms["testing_noret"].send_response = False
self.running = True
# Start the two processes
p0 = Thread(target=self.loop,
args=(self.printer.commands, "buffered"))
p1 = Thread(target=self.loop,
args=(self.printer.unbuffered_commands, "unbuffered"))
p0.daemon = True
p1.daemon = True
p0.start()
p1.start()
# Signal everything ready
logging.info("Redeem ready")
# Wait for exit signal
p0.join()
p1.join()
from Stepper import Stepper
import time
stepper_time_interval_seconds = 0.1
# Pin order: [ENB|MS1|MS2|MS3|RST|SLP|STP|DIR]
stepper_A = Stepper([4, 7, 6, 5, 0, 0, 3, 2], "Stepper A",
stepper_time_interval_seconds)
stepper_B = Stepper([10, 11, 12, 13, 0, 0, 9, 8], "Stepper B",
stepper_time_interval_seconds)
stepper_C = Stepper([16, 17, 18, 19, 0, 0, 15, 14], "Stepper C",
stepper_time_interval_seconds)
stepper_D = Stepper([22, 23, 24, 25, 0, 0, 21, 20], "Stepper D",
stepper_time_interval_seconds)
print "Created 4 steppers"
stepper_A.go()
# stepper_B.go()
# stepper_C.go()
# stepper_D.go()
time.sleep(2) # Sleep 5 seconds
stepper_A.move_to_position(32.0)
print("Moved goal to 32")
time.sleep(4) # Sleep 5 seconds
stepper_B.move_to_position(-26.0)
print("Moved goal to 32")
from Stepper import Stepper #stepper variables #[stepPin, directionPin, enablePin] testStepper = Stepper([22, 17, 23]) #test stepper testStepper.step(3200, "right") #steps, dir, speed, stayOn
