def queue_point_new_ext(self, position, dda_rate, relative_axes, distance, feedrate):
"""
Queue a position with the new style! Moves to a certain position over a given duration
with either relative or absolute positioning. Relative vs. Absolute positioning
is done on an axis to axis basis.
@param list position: A 5 dimentional position in steps specifying where each axis should move to
@param int dda_rate: Steps per second along the master axis
@param list relative_axes: Array of axes whose coordinates should be considered relative
@param float distance: distance in millimeters moved in (x,y,z) space OR if distance(x,y,z) == 0, then max(distance(A),distance(B))
@param float feedrate: the actual feedrate in units of millimeters/second
"""
if len(position) != self.extendedPointLength:
raise PointLengthError(len(position))
payload = struct.pack(
'<BiiiiiIBfh',
host_action_command_dict['QUEUE_POINT_NEW_EXT'],
position[0], position[1], position[2], position[3], position[4],
dda_rate,
Encoder.encode_axes(relative_axes),
float(distance),
int(float(feedrate)*64.0)
)
self.writer.send_action_payload(payload)
def recall_home_positions(self, axes):
"""
Recall and move to the home positions written to the EEPROM
@param axes: Array of axis names ['x', 'y', ...] whose position should be saved
"""
payload = struct.pack(
'<BB',
host_action_command_dict['RECALL_HOME_POSITIONS'],
Encoder.encode_axes(axes)
)
self.writer.send_action_payload(payload)
def store_home_positions(self, axes):
"""
Write the current axes locations to the EEPROM as the home position
@param list axes: Array of axis names ['x', 'y', ...] whose position should be saved
"""
payload = struct.pack(
'<BB',
host_action_command_dict['STORE_HOME_POSITIONS'],
Encoder.encode_axes(axes)
)
self.writer.send_action_payload(payload)
def find_axes_maximums(self, axes, rate, timeout):
"""
Move the toolhead in the positive direction, along the specified axes,
until an endstop is reached or a timeout occurs.
@param list axes: Array of axis names ['x', 'y', ...] to move
@param double rate: Movement rate, in steps/??
@param double timeout: Amount of time to move in seconds before halting the command
"""
payload = struct.pack(
'<BBIH',
host_action_command_dict['FIND_AXES_MAXIMUMS'],
Encoder.encode_axes(axes),
rate,
timeout
)
self.writer.send_action_payload(payload)
def toggle_axes(self, axes, enable):
"""
Used to explicitly power steppers on or off.
@param list axes: Array of axis names ['x', 'y', ...] to configure
@param boolean enable: If true, enable all selected axes. Otherwise, disable the selected
axes.
"""
axes_bitfield = Encoder.encode_axes(axes)
if enable:
axes_bitfield |= 0x80
payload = struct.pack(
'<BB',
host_action_command_dict['ENABLE_AXES'],
axes_bitfield
)
self.writer.send_action_payload(payload)
def queue_extended_point_new(self, position, duration, relative_axes):
"""
Queue a position with the new style! Moves to a certain position over a given duration
with either relative or absolute positioning. Relative vs. Absolute positioning
is done on an axis to axis basis.
@param list position: A 5 dimentional position in steps specifying where each axis should move to
@param int duration: The total duration of the move in miliseconds
@param list relative_axes: Array of axes whose coordinates should be considered relative
"""
if len(position) != self.extendedPointLength:
raise PointLengthError(len(position))
payload = struct.pack(
'<BiiiiiIB',
host_action_command_dict['QUEUE_EXTENDED_POINT_NEW'],
position[0], position[1], position[2], position[3], position[4],
duration,
Encoder.encode_axes(relative_axes)
)
self.writer.send_action_payload(payload)
