def drawTo(x,y,segmentLength):
# Assume coords are in mm so convert to native by calling ik.getStringLengths(x,y)
# ik.getStringLengths(x,y) returns a tuple with 4 items, a pair of native coords
# followed by the string length in mm
nativeCoords = ik.getStringLengths(x,y)
# As this is a move, drop the pen first just to be sure
pen("down")
command = "C17," + str(nativeCoords[0]) + "," + str(nativeCoords[1]) + "," + str(segmentLength) + ",END\n"
print("Debug: drawTo(%s,%s) Command to run: %s" % ( x,y,(command,)))
writeCommandToPolargraph(command)
polargraphHomeYInMM = 120 # Home position Y
polargraphPulleyCircumferenceInMM = 92 # Effective circumference of pulleys
polargraphStepsPerRev = 200 # Number of whole steps per revolution for motors
polargraphStepsMultiplier = 16 # Stepper driver multiplier
polargraphMotorMaxSpeed = 1200 # Max motor speed
polargraphMotorAcceleration = 800 # How quickly the motor accelerates to get to its top speed
polargraphPenUpSetting = 63 # Servo 'up' position
polargraphPenDownSetting = 125 # Servo 'down' position
pageWidthInMM = 420 # Drawing area in mm
pageHeightInMM = 594 # Drawing area in mm
pageXOffsetInMM = 95 # How far (in mm) from the edge of the left pullley is the paper?
pageYOffsetInMM = 240 # How far (in mm) down from the imaginary line drawn between motor spindles?
# Calculate where the home position is in steps (Tested this and it revealed an error in my previously asserted home position. Updated measurements)
polargraphHomeXInSteps, polargraphHomeYInSteps, len1, len2 = ik.getStringLengths(polargraphHomeXInMM, polargraphHomeYInMM)
print("Debug: Calculated home position = %s, %s, lengths %s, %s" %(polargraphHomeXInSteps, polargraphHomeXInSteps, len1, len2))
# Grid dimensions
# (Define the grid cell size and the grid is calculated from that and the page width. An offset is also calculated
# to allow centering the grid within the page or drawing area)
cellWidthInMM = 10
cellHeightInMM = 25
numberOfCols = int(math.floor(pageWidthInMM / cellWidthInMM))
numberOfRows = int(math.floor(pageHeightInMM / cellHeightInMM))
xOffSetRemainder = math.floor((pageWidthInMM - (numberOfCols * cellWidthInMM)) / 2)
yOffSetRemainder = math.floor((pageHeightInMM - (numberOfRows * cellHeightInMM)) / 2)
# Global variable for serial coms function
# This exists to tell the next call of the comms functions
