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Improved the serial port management, fixed some bugs. Code commenting and cleanup.

pull/1/head
carlosgs 2013-05-25 18:31:47 +02:00
parent 57ed9cdd54
commit 549fbf30c5
1 changed files with 80 additions and 68 deletions
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148
Software/Zprobe/Zprobe.py
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@ -1,6 +1,6 @@
#!/usr/bin/python #!/usr/bin/python
###### Cyclone PCB console v0.1 ###### ###### Cyclone PCB console v0.2 ######
# #
# DESCRIPTION: # DESCRIPTION:
# Controller for the Cyclone PCB Factory: # Controller for the Cyclone PCB Factory:
@ -14,7 +14,7 @@
# Attribution - Share Alike - Creative Commons (http://creativecommons.org/licenses/by-sa/3.0/) # Attribution - Share Alike - Creative Commons (http://creativecommons.org/licenses/by-sa/3.0/)
# #
# DISCLAIMER: # DISCLAIMER:
# This software is provided “as is," and you use the software at your own risk. Under no # This software is provided "as is", and you use the software at your own risk. Under no
# circumstances shall Carlosgs be liable for direct, indirect, special, incidental, or # circumstances shall Carlosgs be liable for direct, indirect, special, incidental, or
# consequential damages resulting from the use, misuse, or inability to use this software, # consequential damages resulting from the use, misuse, or inability to use this software,
# even if Carlosgs has been advised of the possibility of such damages. # even if Carlosgs has been advised of the possibility of such damages.
@ -32,7 +32,7 @@
# Begin configuration # Begin configuration
BAUDRATE = 115200 BAUDRATE = 115200
DEVICE = "/dev/ttyUSB0" DEVICE = "/dev/ttyUSB1"
# End configuration # End configuration
import sys import sys
@ -43,20 +43,22 @@ from datetime import datetime
#fileToFeed = sys.argv[1] # Will use this later on to load #fileToFeed = sys.argv[1] # Will use this later on to load
#gcode = open(fileToFeed, "r") #gcode = open(fileToFeed, "r")
millis_wait = 0.1 # Delay used when re-trying to send/receive from the serial port [seconds] millis_wait = 0.5 # Delay used when re-trying to send/receive from the serial port [seconds]
serial_timeout = 0.1 # Timeout for the serial port [seconds] serial_timeout = 5 # Timeout for the serial port [seconds]
OK_response = "ok" # First two characters of an OK response (case insensitive)
def getCurrentTime(): def getCurrentTime():
timeNow = datetime.now() timeNow = datetime.now()
print "Time:",str(timeNow) print "Time:", str(timeNow)
return timeNow return timeNow
def emptyMachineRecvBuffer(): def emptyMachineRecvBuffer(): # We could also use flushInput(), but showing the data that is being discarded is useful for debugging
response = CNC_Machine.readline() while CNC_Machine.inWaiting() > 0:
while response != '':
print "IGNO: ", response
time.sleep(millis_wait) # Wait some milliseconds between attempts
response = CNC_Machine.readline() response = CNC_Machine.readline()
if response != '':
print "IGNO: ", response
time.sleep(millis_wait) # Wait some milliseconds between attempts
def sendToMachine(line): def sendToMachine(line):
emptyMachineRecvBuffer() emptyMachineRecvBuffer()
@ -67,21 +69,28 @@ def recvFromMachine():
response = CNC_Machine.readline() response = CNC_Machine.readline()
if response != '': if response != '':
print "RECV: ", response print "RECV: ", response
else:
print "RECV: Receive timed out!"
return response return response
def machineSaysOK(): def machineSaysOK():
response = recvFromMachine() response = recvFromMachine()
if response[:2] == "ok": if response[:2].lower() == OK_response.lower():
return 1 return 1
return 0 return 0
def waitForOK(): def waitForOK(): # This is a blocking function
print "Waiting for confirmation" print "Waiting for confirmation"
while machineSaysOK() != 1: while machineSaysOK() != 1:
#print "." print " Checking again..."
time.sleep(millis_wait) # Wait some milliseconds between attempts time.sleep(millis_wait) # Wait some milliseconds between attempts
def sendCommandToMachine(command): # Send command and wait for OK
sendToMachine(command)
waitForOK()
def checkConnection(): def checkConnection():
print "Checking the connection..."
sendToMachine("G21\n") # We check the connection setting millimiters as the unit and waiting for the OK response sendToMachine("G21\n") # We check the connection setting millimiters as the unit and waiting for the OK response
time.sleep(0.5) time.sleep(0.5)
while machineSaysOK() != 1: while machineSaysOK() != 1:
@ -94,73 +103,61 @@ CNC_Machine = serial.Serial(DEVICE, BAUDRATE, timeout = serial_timeout)
print "Serial port opened, checking connection..." print "Serial port opened, checking connection..."
time.sleep(0.5) time.sleep(1)
checkConnection(); checkConnection();
print "CONNECTED" print "CONNECTED"
time.sleep(1) sendCommandToMachine("G90\n") # Set absolute positioning
sendToMachine("G90\n") # Set absolute positioning
waitForOK()
def machineHomeZXY(): def machineHomeZXY():
print "Homing all axis..." print "Homing all axis..."
sendToMachine("G28 Z0\n") # move Z to min endstop sendCommandToMachine("G28 Z0\n") # move Z to min endstop
waitForOK() sendCommandToMachine("G28 X0\n") # move X to min endstop
sendToMachine("G28 X0\n") # move X to min endstop sendCommandToMachine("G28 Y0\n") # move Y to min endstop
waitForOK()
sendToMachine("G28 Y0\n") # move Y to min endstop
waitForOK()
machineHomeZXY() # Home all the axis machineHomeZXY() # Home all the axis
F_slowMove = 200 # Move speed [mm/min?] F_slowMove = 200 # Move speed [mm/min?]
F_fastMove = 600 F_fastMove = 700
def floats(val): # This is used to convert a float value to a string (avoiding exponent notation) def floats(val): # This is used to convert a float value to a string (avoiding exponent notation)
return '{:f}'.format(float(val)) # It would be interesting to truncate the decimals that aren't used return '{:.3f}'.format(float(val)) # It truncates the decimals that aren't used
def machineToCoords(X,Y,Z,F): def machineToCoords(X, Y, Z, F):
print "Moving to:" print "Moving to:"
sendToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n") sendCommandToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
waitForOK()
def machineToCoordsXY(X,Y,F): def machineToCoordsXY(X, Y, F):
print "Moving to:" print "Moving to:"
sendToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n") sendCommandToMachine("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
waitForOK()
def machineToCoordsZ(Z,F): def machineToCoordsZ(Z, F):
print "Moving Z absolute:" print "Moving Z absolute:"
sendToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n") sendCommandToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
waitForOK()
def machineToCoordsZrelative(Z,F): def machineToCoordsZrelative(Z, F):
print "Moving Z relative:" print "Moving Z relative:"
sendToMachine("G91\n") # Set relative positioning sendCommandToMachine("G91\n") # Set relative positioning
waitForOK() sendCommandToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
sendToMachine("G1 Z"+floats(Z)+" F"+floats(F)+"\n") sendCommandToMachine("G90\n") # Set absolute positioning
waitForOK()
sendToMachine("G90\n") # Set absolute positioning
waitForOK()
grid_origin_X = float(0) # Initial point of the grid grid_origin_X = float(0) # Initial point of the grid [mm]
grid_origin_Y = float(0) grid_origin_Y = float(0)
grid_len_X = float(135) # Distance to probe [mm] grid_len_X = float(135) #135 # Distance to probe [mm]
grid_len_Y = float(84) grid_len_Y = float(84) #84
grid_N_X = int(12) # Number of points grid_N_X = int(12) #12 # Number of points
grid_N_Y = int(6) grid_N_Y = int(6) #6
grid_inc_X = grid_len_X/float(grid_N_X-1) # mm grid_inc_X = grid_len_X/float(grid_N_X-1) # [mm]
grid_inc_Y = grid_len_Y/float(grid_N_Y-1) grid_inc_Y = grid_len_Y/float(grid_N_Y-1)
probe_grid = [ [ 0 for i in range(grid_N_X) ] for j in range(grid_N_Y) ] probe_grid = [ [ 0 for i in range(grid_N_X) ] for j in range(grid_N_Y) ]
# Show our grid # Show our grid (initialised as zeros)
for row in probe_grid: for row in probe_grid:
print row print row
@ -168,23 +165,29 @@ print "Probing begins!"
print "WARNING: Keep an eye on the machine, unplug if something goes wrong!" print "WARNING: Keep an eye on the machine, unplug if something goes wrong!"
beginTime = getCurrentTime() # Store current time in a variable, will be used to measure duration of the probing beginTime = getCurrentTime() # Store current time in a variable, will be used to measure duration of the probing
# Warning: Do not lower too much or you will cause damage! # Move to grid's origin
# machineToCoordsZrelative(-10,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord) machineToCoordsXY(grid_origin_X, grid_origin_Y, F_fastMove)
# Warning: Do not lower too much or you will potentially cause damage!
initial_Z_lowering_distance = -15
sendCommandToMachine("M121\n") # Enable endstops (for protection! it should tap the copper SLOWLY)
machineToCoordsZrelative(initial_Z_lowering_distance,F_slowMove) # Move Z towards the PCB (saves some probing time for the first coord)
sendCommandToMachine("M120\n") # Disable endstops (we only use them for homing)
def machineProbeZ(): def machineProbeZ():
print "Probing Z" print "Probing Z"
sendToMachine("G30\n") # Launch probe command sendToMachine("G30\n") # Launch probe command
response = recvFromMachine() # Read the response, it is a variable time so we make multiple attempts response = recvFromMachine() # Read the response, it is a variable run time so we may need to make multiple attempts
while response == '': while response == '':
#print "." #print "."
time.sleep(millis_wait) # Wait some milliseconds between attempts time.sleep(millis_wait) # Wait some milliseconds between attempts
response = recvFromMachine() response = recvFromMachine()
response_vals = response.split() # Split the response (i.e. "ok Z:1.23") response_vals = response.split() # Split the response (i.e. "ok Z:1.23")
if response_vals[0][:2] == "ok": if response_vals[0][:2].lower() == OK_response.lower():
Zres = response_vals[1][2:] # Ignore the "Z:" and read the coordinate Zres = response_vals[1][2:] # Ignore the "Z:" and read the coordinate value
print "Result is Z=",Zres print "Result is Z=",Zres
return float(Zres) return float(Zres)
return 400 # Error case, it has never happened :) return 400 # Error case, don't worry: it has never happened :)
def isOdd(number): def isOdd(number):
if number % 2 == 0: if number % 2 == 0:
@ -192,25 +195,29 @@ def isOdd(number):
else: else:
return 1 # Odd number return 1 # Odd number
for x_i in range(grid_N_X): Z_probing_lift = 0.5 # lift between Z probings [mm]
x_val = float(x_i)*grid_inc_X+grid_origin_X; # Note: The lift is relative to the PCB board, you can usually set a low value to speedup the process.
# But PLEASE keep an eye for possible collisions!
for x_i in range(grid_N_X): # For each point on the grid...
x_val = float(x_i)*grid_inc_X + grid_origin_X; # Calculate X coordinate
optimal_range = range(grid_N_Y) optimal_range = range(grid_N_Y)
if isOdd(x_i): # This creates a more optimal path for the probing if isOdd(x_i): # This optimises a bit the probing path
optimal_range = reversed(optimal_range) optimal_range = reversed(optimal_range)
for y_i in optimal_range: for y_i in optimal_range:
y_val = float(y_i)*grid_inc_Y+grid_origin_Y; y_val = float(y_i)*grid_inc_Y + grid_origin_Y; # Calculate Y coordinate
machineToCoordsXY(x_val,y_val,F_fastMove) machineToCoordsXY(x_val, y_val, F_fastMove) # Move to position
val = machineProbeZ() probe_grid[y_i][x_i] = machineProbeZ() # Do the Z probing
machineToCoordsZrelative(0.5,F_fastMove/2) machineToCoordsZrelative(Z_probing_lift, F_fastMove/2) # Lift the probe
probe_grid[y_i][x_i]= val
# Once we have all the points, we set the origin as (0,0) and offset the rest of values # Once we have all the points, we set the origin as (0,0) and offset the rest of values
ZoffsetOrigin = probe_grid[0][0] ZoffsetOrigin = probe_grid[0][0]
print "The origin Z height is", ZoffsetOrigin
probe_grid = [[elem - ZoffsetOrigin for elem in row] for row in probe_grid] probe_grid = [[elem - ZoffsetOrigin for elem in row] for row in probe_grid]
# Return to the grid's origin # Return to the grid's origin
machineToCoordsZrelative(10,F_slowMove) machineToCoordsZrelative(10, F_slowMove) # Lift Z
machineToCoordsXY(grid_origin_X,grid_origin_Y,F_fastMove) machineToCoordsXY(grid_origin_X, grid_origin_Y, F_fastMove) # Move to grid's origin
# Show our grid # Show our grid
@ -223,7 +230,7 @@ print probe_grid # Right now I am copying this to an Octave script for the visua
print "Finished probing!" print "Finished probing!"
getCurrentTime() getCurrentTime()
print "Probing duration:",str(datetime.now()-beginTime) print "Probing duration:", str(datetime.now() - beginTime)
@ -250,7 +257,11 @@ print "Probing duration:",str(datetime.now()-beginTime)
#gcode.close() #gcode.close()
CNC_Machine.close() # Close the serial port
# IMPORTANT: Before closing the serial port we must make a blocking move in order to wait for all the buffered commands to end
sendCommandToMachine("G28 Z0\n") # move Z to min endstop
CNC_Machine.close() # Close the serial port connection
# Bilinear interpolation code by Raymond Hettinger from http://stackoverflow.com/a/8662355 # Bilinear interpolation code by Raymond Hettinger from http://stackoverflow.com/a/8662355
@ -282,3 +293,4 @@ def bilinear_interpolation(x, y, points):
q12 * (x2 - x) * (y - y1) + q12 * (x2 - x) * (y - y1) +
q22 * (x - x1) * (y - y1) q22 * (x - x1) * (y - y1)
) / ((x2 - x1) * (y2 - y1) + 0.0) ) / ((x2 - x1) * (y2 - y1) + 0.0)