import re
import json
from opentrons.util import log
log = log.get_logger(__name__)
class VirtualSmoothie(object):
def init_coordinates(self):
self.coordinates = {
'current': {
'x': 0,
'y': 0,
'z': 0,
'a': 0,
'b': 0
},
'target': {
'x': 0,
'y': 0,
'z': 0,
'a': 0,
'b': 0
}
}
for axis in 'xyzab':
self.coordinates['current'][axis] = 0.0
self.coordinates['target'][axis] = 0.0
from opentrons import containers
from opentrons.drivers import motor as motor_drivers
from opentrons.drivers.virtual_smoothie import VirtualSmoothie
from opentrons.robot.command import Command
from opentrons.util import trace
from opentrons.util.vector import Vector
from opentrons.util.log import get_logger
from opentrons.drivers import virtual_smoothie
from opentrons.helpers import helpers
from opentrons.util.trace import traceable
from opentrons.util.singleton import Singleton
from opentrons.util.environment import settings
log = get_logger(__name__)
class InstrumentMosfet(object):
"""
Provides access to MagBead's MOSFET.
"""
def __init__(self, driver, mosfet_index):
self.motor_driver = driver
self.mosfet_index = mosfet_index
def engage(self):
"""
Engages the MOSFET.
"""
from opentrons.util import trace
DEFAULTS_DIR_PATH = pkg_resources.resource_filename('opentrons.config',
'smoothie')
DEFAULTS_FILE_PATH = os.path.join(DEFAULTS_DIR_PATH, 'smoothie-defaults.ini')
CONFIG_DIR_PATH = os.environ.get('APP_DATA_DIR', os.getcwd())
CONFIG_DIR_PATH = os.path.join(CONFIG_DIR_PATH, 'smoothie')
CONFIG_FILE_PATH = os.path.join(CONFIG_DIR_PATH, 'smoothie-config.ini')
JSON_ERROR = None
if sys.version_info > (3, 4):
JSON_ERROR = ValueError
else:
JSON_ERROR = json.decoder.JSONDecodeError
log = get_logger(__name__)
class CNCDriver(object):
"""
This object outputs raw GCode commands to perform high-level tasks.
"""
MOVE = 'G0'
DWELL = 'G4'
HOME = 'G28'
SET_POSITION = 'G92'
GET_POSITION = 'M114'
GET_ENDSTOPS = 'M119'
SET_SPEED = 'G0'
HALT = 'M112'
import re
import json
from opentrons.util import log
log = log.get_logger(__name__)
class VirtualSmoothie(object):
def init_coordinates(self):
self.coordinates = {
'current': {'x': 0, 'y': 0, 'z': 0, 'a': 0, 'b': 0},
'target': {'x': 0, 'y': 0, 'z': 0, 'a': 0, 'b': 0}
}
for axis in 'xyzab':
self.coordinates['current'][axis] = 0.0
self.coordinates['target'][axis] = 0.0
def __init__(self, port, options):
self.port = port
self.limit_switches = options['limit_switches']
self.config = options['config']
self.version = options['firmware']
self.responses = []
self.absolute = True
self.is_open = False
self.speed = {
'head': 0.0,
'plunger': {
'a': 0.0,
