Improved the serial port management, fixed some bugs. Code commenting and cleanup.
carlosgs
parent
57ed9cdd54
commit
549fbf30c5
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@ -1,6 +1,6 @@
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#!/usr/bin/python
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###### Cyclone PCB console v0.1 ######
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###### Cyclone PCB console v0.2 ######
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#
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# DESCRIPTION:
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# Controller for the Cyclone PCB Factory:
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@ -14,7 +14,7 @@
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# Attribution - Share Alike - Creative Commons (http://creativecommons.org/licenses/by-sa/3.0/)
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#
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# DISCLAIMER:
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# This software is provided “as is," and you use the software at your own risk. Under no
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# This software is provided "as is", and you use the software at your own risk. Under no
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# circumstances shall Carlosgs be liable for direct, indirect, special, incidental, or
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# consequential damages resulting from the use, misuse, or inability to use this software,
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# even if Carlosgs has been advised of the possibility of such damages.
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@ -32,7 +32,7 @@
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# Begin configuration
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BAUDRATE = 115200
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DEVICE = "/dev/ttyUSB0"
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DEVICE = "/dev/ttyUSB1"
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# End configuration
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import sys
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@ -43,20 +43,22 @@ from datetime import datetime
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#fileToFeed = sys.argv[1] # Will use this later on to load
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#gcode = open(fileToFeed, "r")
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millis_wait = 0.1 # Delay used when re-trying to send/receive from the serial port [seconds]
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serial_timeout = 0.1 # Timeout for the serial port [seconds]
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millis_wait = 0.5 # Delay used when re-trying to send/receive from the serial port [seconds]
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serial_timeout = 5 # Timeout for the serial port [seconds]
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OK_response = "ok" # First two characters of an OK response (case insensitive)
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def getCurrentTime():
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timeNow = datetime.now()
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print "Time:",str(timeNow)
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print "Time:", str(timeNow)
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return timeNow
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def emptyMachineRecvBuffer():
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response = CNC_Machine.readline()
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while response != '':
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print "IGNO: ", response
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time.sleep(millis_wait) # Wait some milliseconds between attempts
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def emptyMachineRecvBuffer(): # We could also use flushInput(), but showing the data that is being discarded is useful for debugging
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while CNC_Machine.inWaiting() > 0:
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response = CNC_Machine.readline()
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if response != '':
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print "IGNO: ", response
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time.sleep(millis_wait) # Wait some milliseconds between attempts
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def sendToMachine(line):
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emptyMachineRecvBuffer()
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@ -67,21 +69,28 @@ def recvFromMachine():
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response = CNC_Machine.readline()
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if response != '':
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print "RECV: ", response
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else:
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print "RECV: Receive timed out!"
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return response
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def machineSaysOK():
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response = recvFromMachine()
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if response[:2] == "ok":
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if response[:2].lower() == OK_response.lower():
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return 1
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return 0
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def waitForOK():
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def waitForOK(): # This is a blocking function
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print "Waiting for confirmation"
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while machineSaysOK() != 1:
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#print "."
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print " Checking again..."
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time.sleep(millis_wait) # Wait some milliseconds between attempts
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def sendCommandToMachine(command): # Send command and wait for OK
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sendToMachine(command)
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waitForOK()
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def checkConnection():
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print "Checking the connection..."
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sendToMachine("G21\n") # We check the connection setting millimiters as the unit and waiting for the OK response
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time.sleep(0.5)
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while machineSaysOK() != 1:
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@ -94,73 +103,61 @@ CNC_Machine = serial.Serial(DEVICE, BAUDRATE, timeout = serial_timeout)
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print "Serial port opened, checking connection..."
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time.sleep(0.5)
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time.sleep(1)
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checkConnection();
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print "CONNECTED"
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time.sleep(1)
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sendToMachine("G90\n") # Set absolute positioning
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waitForOK()
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sendCommandToMachine("G90\n") # Set absolute positioning
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def machineHomeZXY():
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print "Homing all axis..."
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sendToMachine("G28 Z0\n") # move Z to min endstop
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waitForOK()
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sendToMachine("G28 X0\n") # move X to min endstop
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waitForOK()
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sendToMachine("G28 Y0\n") # move Y to min endstop
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waitForOK()
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sendCommandToMachine("G28 Z0\n") # move Z to min endstop
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sendCommandToMachine("G28 X0\n") # move X to min endstop
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sendCommandToMachine("G28 Y0\n") # move Y to min endstop
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machineHomeZXY() # Home all the axis
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F_slowMove = 200 # Move speed [mm/min?]
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F_fastMove = 600
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F_fastMove = 700
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def floats(val): # This is used to convert a float value to a string (avoiding exponent notation)
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return '{:f}'.format(float(val)) # It would be interesting to truncate the decimals that aren't used
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return '{:.3f}'.format(float(val)) # It truncates the decimals that aren't used
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def machineToCoords(X,Y,Z,F):
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def machineToCoords(X, Y, Z, F):
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print "Moving to:"
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sendToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
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waitForOK()
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sendCommandToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
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def machineToCoordsXY(X,Y,F):
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def machineToCoordsXY(X, Y, F):
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print "Moving to:"
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sendToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
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waitForOK()
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sendCommandToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
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def machineToCoordsZ(Z,F):
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def machineToCoordsZ(Z, F):
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print "Moving Z absolute:"
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sendToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
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waitForOK()
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sendCommandToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
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def machineToCoordsZrelative(Z,F):
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def machineToCoordsZrelative(Z, F):
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print "Moving Z relative:"
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sendToMachine("G91\n") # Set relative positioning
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waitForOK()
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sendToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
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waitForOK()
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sendToMachine("G90\n") # Set absolute positioning
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waitForOK()
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sendCommandToMachine("G91\n") # Set relative positioning
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sendCommandToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
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sendCommandToMachine("G90\n") # Set absolute positioning
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grid_origin_X = float(0) # Initial point of the grid
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grid_origin_X = float(0) # Initial point of the grid [mm]
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grid_origin_Y = float(0)
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grid_len_X = float(135) # Distance to probe [mm]
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grid_len_Y = float(84)
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grid_len_X = float(135) #135 # Distance to probe [mm]
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grid_len_Y = float(84) #84
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grid_N_X = int(12) # Number of points
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grid_N_Y = int(6)
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grid_N_X = int(12) #12 # Number of points
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grid_N_Y = int(6) #6
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grid_inc_X = grid_len_X/float(grid_N_X-1) # mm
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grid_inc_X = grid_len_X/float(grid_N_X-1) # [mm]
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grid_inc_Y = grid_len_Y/float(grid_N_Y-1)
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probe_grid = [ [ 0 for i in range(grid_N_X) ] for j in range(grid_N_Y) ]
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# Show our grid
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# Show our grid (initialised as zeros)
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for row in probe_grid:
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print row
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@ -168,23 +165,29 @@ print "Probing begins!"
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print "WARNING: Keep an eye on the machine, unplug if something goes wrong!"
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beginTime = getCurrentTime() # Store current time in a variable, will be used to measure duration of the probing
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# Warning: Do not lower too much or you will cause damage!
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# machineToCoordsZrelative(-10,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord)
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# Move to grid's origin
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machineToCoordsXY(grid_origin_X, grid_origin_Y, F_fastMove)
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# Warning: Do not lower too much or you will potentially cause damage!
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initial_Z_lowering_distance = -15
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sendCommandToMachine("M121\n") # Enable endstops (for protection! it should tap the copper SLOWLY)
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machineToCoordsZrelative(initial_Z_lowering_distance,F_slowMove) # Move Z towards the PCB (saves some probing time for the first coord)
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sendCommandToMachine("M120\n") # Disable endstops (we only use them for homing)
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def machineProbeZ():
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print "Probing Z"
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sendToMachine("G30\n") # Launch probe command
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response = recvFromMachine() # Read the response, it is a variable time so we make multiple attempts
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response = recvFromMachine() # Read the response, it is a variable run time so we may need to make multiple attempts
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while response == '':
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#print "."
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time.sleep(millis_wait) # Wait some milliseconds between attempts
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response = recvFromMachine()
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response_vals = response.split() # Split the response (i.e. "ok Z:1.23")
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if response_vals[0][:2] == "ok":
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Zres = response_vals[1][2:] # Ignore the "Z:" and read the coordinate
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if response_vals[0][:2].lower() == OK_response.lower():
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Zres = response_vals[1][2:] # Ignore the "Z:" and read the coordinate value
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print "Result is Z=",Zres
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return float(Zres)
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return 400 # Error case, it has never happened :)
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return 400 # Error case, don't worry: it has never happened :)
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def isOdd(number):
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if number % 2 == 0:
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@ -192,25 +195,29 @@ def isOdd(number):
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else:
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return 1 # Odd number
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for x_i in range(grid_N_X):
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x_val = float(x_i)*grid_inc_X+grid_origin_X;
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Z_probing_lift = 0.5 # lift between Z probings [mm]
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# Note: The lift is relative to the PCB board, you can usually set a low value to speedup the process.
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# But PLEASE keep an eye for possible collisions!
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for x_i in range(grid_N_X): # For each point on the grid...
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x_val = float(x_i)*grid_inc_X + grid_origin_X; # Calculate X coordinate
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optimal_range = range(grid_N_Y)
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if isOdd(x_i): # This creates a more optimal path for the probing
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if isOdd(x_i): # This optimises a bit the probing path
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optimal_range = reversed(optimal_range)
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for y_i in optimal_range:
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y_val = float(y_i)*grid_inc_Y+grid_origin_Y;
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machineToCoordsXY(x_val,y_val,F_fastMove)
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val = machineProbeZ()
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machineToCoordsZrelative(0.5,F_fastMove/2)
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probe_grid[y_i][x_i]= val
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y_val = float(y_i)*grid_inc_Y + grid_origin_Y; # Calculate Y coordinate
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machineToCoordsXY(x_val, y_val, F_fastMove) # Move to position
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probe_grid[y_i][x_i] = machineProbeZ() # Do the Z probing
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machineToCoordsZrelative(Z_probing_lift, F_fastMove/2) # Lift the probe
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# Once we have all the points, we set the origin as (0,0) and offset the rest of values
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ZoffsetOrigin = probe_grid[0][0]
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print "The origin Z height is", ZoffsetOrigin
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probe_grid = [[elem - ZoffsetOrigin for elem in row] for row in probe_grid]
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# Return to the grid's origin
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machineToCoordsZrelative(10,F_slowMove)
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machineToCoordsXY(grid_origin_X,grid_origin_Y,F_fastMove)
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machineToCoordsZrelative(10, F_slowMove) # Lift Z
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machineToCoordsXY(grid_origin_X, grid_origin_Y, F_fastMove) # Move to grid's origin
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# Show our grid
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@ -223,7 +230,7 @@ print probe_grid # Right now I am copying this to an Octave script for the visua
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print "Finished probing!"
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getCurrentTime()
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print "Probing duration:",str(datetime.now()-beginTime)
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print "Probing duration:", str(datetime.now() - beginTime)
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@ -250,7 +257,11 @@ print "Probing duration:",str(datetime.now()-beginTime)
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#gcode.close()
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CNC_Machine.close() # Close the serial port
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# IMPORTANT: Before closing the serial port we must make a blocking move in order to wait for all the buffered commands to end
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sendCommandToMachine("G28 Z0\n") # move Z to min endstop
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CNC_Machine.close() # Close the serial port connection
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# Bilinear interpolation code by Raymond Hettinger from http://stackoverflow.com/a/8662355
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@ -282,3 +293,4 @@ def bilinear_interpolation(x, y, points):
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q12 * (x2 - x) * (y - y1) +
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q22 * (x - x1) * (y - y1)
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) / ((x2 - x1) * (y2 - y1) + 0.0)
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