from cartman import bot, choose_serial_connection
serial_port = choose_serial_connection()
g = bot(name=serial_port)
g.home()
g.set_offset(100,300)
for i in range(1):
print(g.where())
g.set_speed(50000)
g.goto(x=100, y=0)
g.goto(x=170, y=30)
g.goto(x=200, y=100)
g.goto(x=170, y=170)
g.set_speed(10000)
g.goto(x=100, y=200)
g.goto(x=30, y=170)
g.goto(x=0, y=100)
g.goto(x=30, y=30)
import math
for i in range(3):
# go around in circles
# jogging is fun
# from getkey import getKey as getkey
from onkey import listen
from cartman import bot
b = bot(verbose=True)
b.home()
def jog(x=None,y=None,z=None,f=None):
def n2z(x): return 0 if x is None else x
jog_command = '$J=G91G21X{:.2f}Y{:.2f}Z{:.2f}F{:.1f}'.format(
*[n2z(k) for k in [x,y,z,f]]
)
try:
b.command_ok(jog_command)
except Exception as e:
if ':15' in repr(e): # jog exceed limits
print(e)
else:
raise e
def unjog():
# b.command(b'\x85')
b.command_ok(b'\x85G4P0\n')
b.status_report()
# b.sync(interval=0.1)
# b.command_ok('G4P100')
print('X{:.1f} Y{:.1f} Z{:.1f}'.format(*b.working_position))
time.sleep(0.05)
import time
import numpy as np
from cartman_defaults import *
a = lambda *k:np.array(k)
def shifted_goto(bot, shift):
def goto(**kw):
for idx, axis in enumerate(['x','y','z']):
if axis in kw:
kw[axis] = kw[axis] + shift[idx]
return bot.goto(**kw)
return goto
from cartman import bot
b = bot()
# bottom left corner of the paper
paper_origin = a(90, 240, 0)
paper_goto = shifted_goto(b, paper_origin)
def pendown():paper_goto(z=1)
def penup():paper_goto(z=10)
def draw_segments(s): # numpy array of shape (N, 2)
penup()
paper_goto(x=s[0][0],y=s[0][1])
pendown()
for i in range(1,len(s)):
paper_goto(x=s[i][0],y=s[i][1])
return tour
if d.tsp != 0:
nf = []
for segs in foursegments:
indices = travel_salesman_sa([s[0] for s in segs])
segs = [segs[i] for i in indices]
nf.append(segs)
else:
nf = foursegments
# connect to bot
from cartman import bot
bot = bot(verbose=False)
import time
tick = time.time()
bot.home()
bot.set_speed(50000)
def pendown():
bot.goto(z=-44)
def penup():
bot.goto(z=-44 + 4)
def gocart():
b = bot()
ps,ws = DefaultPaintStation(b), DefaultWaterStation(b)
ss = DefaultSpongeStation(b)
tc = DefaultToolChange(b)
paper = a(132, 291, -29)
def brushdown(): b.goto(z=paper[2])
def brushup(): b.goto(z=paper[2] + 10)
def paper_goto(arr):
b.set_offset(paper[0], paper[1])
b.goto(x=arr[0], y=arr[1])
b.set_offset(0,0)
def seg(arr): # in paper coordinate.
paper_goto(arr[0])
brushdown()
for i in range(len(arr)-1):
paper_goto(arr[i+1])
brushup()
def goodwash():
for i in range(3):
ws.wash()
ss.wipe()
def fa():
b.set_speed(90000)
b.home()
fa()
tc.pickup(1) # thick first
fa()
goodwash()
color_to_dip = 0
fa()
ps.dip(color_to_dip) # yellow
db = 200
budget = db # 200mm worth of paint on brush
for s in bls[0].segments:
d = measure(s)
if budget>d:
fa()
seg(s)
budget-=d
else:
# no enough budget
ps.dip(color_to_dip) # get more paint
budget=db
fa()
seg(s)
budget-=d
fa()
goodwash()
fa()
tc.putdown(1)
tc.pickup(0) # thin brush
color_to_dip=1
fa()
goodwash()
fa()
ps.dip(color_to_dip) # yellow
budget = db # 100mm worth of paint on brush
for s in bls[1].segments:
d = measure(s)
if budget>d:
fa()
seg(s)
budget-=d
else:
# no enough budget
ps.dip(color_to_dip) # get more paint
budget=db
fa()
seg(s)
budget-=d
fa()
goodwash()
fa()
tc.putdown(0)
b.sync()
b.home()
for d in [0, 1]])) for k in [j, j - 1, i, i - 1]
])) / temperature) > random.random():
tour = copy.copy(newTour)
# plt.plot([cities[tour[i % ncities]][0] for i in range(ncities+1)], [cities[tour[i % ncities]][1] for i in range(ncities+1)], 'xb-');
# plt.show()
return tour
# uncomment to travel_salesman
# indices = travel_salesman_sa([s[0] for s in segments])
# segments = [segments[i] for i in indices]
# connect to bot
from cartman import bot
bot = bot()
import time
tick = time.time()
bot.home()
bot.set_speed(50000)
def pendown():
bot.goto(z=0.5)
def penup():
bot.goto(z=3)