def doPath(X_offset=0, Y_offset=0): global toolPos_X, toolPos_Y, toolPos_Z, toolPos_F, X_dest, Y_dest, Z_dest, F_dest for path in etch_moves : toolRefresh = 0 toolPos_draw(toolPos_X, toolPos_Y, etching=0) cy.moveZ(Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset+Zlift,F_fastMove) # Raise and move to next point X_dest = path[0][0]+X_offset Y_dest = path[0][1]+Y_offset F_dest = F_fastMove print " Traveling to:", str([X_dest, Y_dest]), "at Z:", Z_manual_offset+Zlift cy.moveXY(X_dest, Y_dest, F_dest) toolPos_draw(X_dest, Y_dest, etching=0) Z_dest = path[0][2] if Z_dest > 0: F_dest = F_slowMove else: F_dest = path[0][3] # We set the original speed if it is etching/drill cy.moveZ(Z_dest+Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset,F_dest) # print "Speed:",F_dest print " Etching at Z:",Z_dest+Z_manual_offset toolPos_X = X_dest toolPos_Y = Y_dest toolPos_Z = Z_dest # Not sure.. toolPos_F = F_dest # print path for coord in path[1:] : X_dest = coord[0]+X_offset Y_dest = coord[1]+Y_offset Z_dest = coord[2] F_dest = coord[3] distance = (X_dest-toolPos_X)**2+(Y_dest-toolPos_Y)**2 if distance >= maxDistance : splitLongEtchMove(distance) if distance < minDistance and (Z_dest-toolPos_Z)**2 < 0.001**2 : # Make sure it is not a Z movement print "Ignoring", distance**0.5, "mm segment!" continue Z_real = Z_dest+Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset cy.moveXYZ(X_dest, Y_dest, Z_real, F_dest) # print "Coords: Speed:",F_dest toolPos_refresh(X_dest, Y_dest, etching=1) toolPos_X = X_dest toolPos_Y = Y_dest toolPos_Z = Z_dest toolPos_F = F_dest
def splitLongEtchMove(distance): global toolPos_X, toolPos_Y, toolPos_Z, toolPos_F, X_dest, Y_dest, Z_dest, F_dest X_dest_tmp = toolPos_X Y_dest_tmp = toolPos_Y Z_dest_tmp = toolPos_Z F_dest_tmp = toolPos_Z #distance = distance**0.5 # [mm] N_steps = int((distance/maxDistance)**0.5) # **must be** >= 1 print "Splitting", distance**0.5, "mm segment into", N_steps, "steps" # print "Orig:", toolPos_X, toolPos_Y, toolPos_Z, "Dest:", X_dest, Y_dest, Z_dest X_step = (X_dest-toolPos_X)/float(N_steps) Y_step = (Y_dest-toolPos_Y)/float(N_steps) Z_step = (Z_dest-toolPos_Z)/float(N_steps) F_step = (F_dest-toolPos_F)/float(N_steps) for i in range(N_steps) : X_dest_tmp = toolPos_X + X_step Y_dest_tmp = toolPos_Y + Y_step Z_dest_tmp = toolPos_Z + Z_step F_dest_tmp = toolPos_F + F_step Z_real = Z_dest_tmp+Z_origin_offset+getZoffset(X_dest_tmp, Y_dest_tmp)+Z_manual_offset cy.moveXYZ(X_dest_tmp, Y_dest_tmp, Z_real, F_dest_tmp) toolPos_refresh(X_dest_tmp, Y_dest_tmp, etching=1) # print "Move:",X_dest_tmp, Y_dest_tmp, Z_dest_tmp toolPos_X = X_dest_tmp toolPos_Y = Y_dest_tmp toolPos_Z = Z_dest_tmp toolPos_F = F_dest_tmp
DEVICE = "/dev/ttyUSB0"
Emulate = 0
# End configuration
# Begin modules
import sys
import numpy as np
from scipy import interpolate
import matplotlib.pyplot as plt
sys.path.append("../CycloneHost")
import CycloneHost as cy
# End modules
cy.connect(BAUDRATE, DEVICE, Emulate)
cy.sendCommand("G90\n") # Set absolute positioning
cy.homeZXY() # Home all the axis
# (x,y)
#grid_origin = (0,0) # Initial point of the grid [mm]
#grid_len = (135,84) # Distance to probe [mm]
#grid_N = (12,6) # Number of points
grid_origin = (0,0) # Initial point of the grid [mm]
grid_len = (80,60) # Distance to probe [mm]
grid_N = (5,5) # Number of points (AT LEAST 4 IN EACH DIRECTION, OTHERWISE INTERPOLATION WILL FAIL)
Zlift = 0.5 # mm
def drawTool(x, y):
global toolPos_point
pltSetFig(gcodeviewer)
toolPos_point, = plt.plot(0, 0, markersize=12, c='g', marker='x')
pltShowNonBlocking()
F_slowMove = 200 # Move speed [mm/min]
F_fastMove = 700
F_drillMove = 50
F_edgeMove = 25
F_etchMove = 100
cy.connect(BAUDRATE, DEVICE, Emulate)
cy.sendCommand("G90\n") # Set absolute positioning
cy.homeZXY() # Home all the axis
drawTool(10, 20) # Show a marker on the gcode plot
# Move to the origin of the grid
cy.moveXY(x_points[0], y_points[0], F_fastMove)
# Warning: Do not lower too much or you will potentially cause damage!
initial_Z_lowering_distance = -10
cy.moveZrelSafe(initial_Z_lowering_distance,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord)
