First Z adjust tests. The path of the drill is represented in real time.
carlosgs
parent
6375fbcab0
commit
75cde8c2fc
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@ -36,7 +36,7 @@ import serial
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import time
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from datetime import datetime
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import helper
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from helper import *
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# End modules
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# Begin configuration. It is overwritten when running setup(baudrate, device)
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@ -49,7 +49,10 @@ 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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CNC_Machine = []
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def connect(baudrate, device):
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global CNC_Machine
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BAUDRATE = baudrate
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DEVICE = device
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print "Connecting to Cyclone..."
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@ -69,14 +72,12 @@ def flushRecvBuffer(): # We could also use flushInput(), but showing the data th
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def sendLine(line):
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flushRecvBuffer()
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CNC_Machine.write(line)
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print "SENT: ", line
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#print "SENT: ", line
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def recvLine():
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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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#if response != '': print "RECV: ", response
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#else: print "RECV: Receive timed out!"
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return response
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def recvOK():
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@ -86,9 +87,9 @@ def recvOK():
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return 0
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def waitForOK(): # This is a blocking function
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print "Waiting for confirmation"
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#print "Waiting for confirmation"
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while recvOK() != 1:
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print " Checking again..."
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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 sendCommand(command): # Send command and wait for OK
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@ -109,28 +110,28 @@ def homeZXY():
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sendCommand("G28 X0\n") # move X to min endstop
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sendCommand("G28 Y0\n") # move Y to min endstop
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def move(X, Y, Z, F):
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print "Moving to:"
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def moveXYZ(X, Y, Z, F):
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#print "Moving to:"
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sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
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def moveXY(X, Y, F):
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print "Moving to:"
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#print "Moving to:"
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sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
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def moveZ(Z, F):
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print "Moving Z absolute:"
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#print "Moving Z absolute:"
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sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
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def moveZrel(Z, F):
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print "Moving Z relative:"
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#print "Moving Z relative:"
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sendCommand("G91\n") # Set relative positioning
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sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
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sendCommand("G90\n") # Set absolute positioning
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def moveZrelSafe(Z, F):
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cy.sendCommand("M121\n") # Enable endstops (for protection! usually it should **NOT** hit neither the endstop nor the PCB)
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sendCommand("M121\n") # Enable endstops (for protection! usually it should **NOT** hit neither the endstop nor the PCB)
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moveZrel(Z, F)
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cy.sendCommand("M120\n") # Disable endstops (we only use them for homing)
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sendCommand("M120\n") # Disable endstops (we only use them for homing)
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def probeZ():
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print "Probing Z"
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@ -164,16 +165,19 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
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Z_probing_lift = float(Zlift) # lift between Z probings [mm]
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F_fastMove = 400
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F_slowMove = 100
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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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x_points = [ float(x_i)*grid_inc_X + grid_origin_X for x_i in range(grid_N_X) ] # Calculate X coordinates
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y_points = [ float(y_i)*grid_inc_Y + grid_origin_Y for y_i in range(grid_N_Y) ] # Calculate X coordinates
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probe_result = [ [ 0 for j in range(grid_N_Y) ] for i in range(grid_N_X) ]
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probe_result = [ [ 0 for j in range(grid_N_X) ] for i in range(grid_N_Y) ]
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# Show our grid (initialised as zeros)
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for row in probe_grid:
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for row in probe_result:
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print row
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print "Probing begins!"
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@ -181,7 +185,7 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
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beginTime = datetime.now() # Store current time in a variable, will be used to measure duration of the probing
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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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moveXY(grid_origin_X, grid_origin_Y, F_fastMove)
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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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@ -190,18 +194,18 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
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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; # Calculate Y coordinate
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machineToCoordsXY(x_val, y_val, F_fastMove) # Move to position
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probe_result[x_i][y_i] = machineProbeZ() # Do the Z probing
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machineToCoordsZrelative(Z_probing_lift, F_fastMove/2) # Lift the probe
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moveXY(x_val, y_val, F_fastMove) # Move to position
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probe_result[y_i][x_i] = probeZ() # Do the Z probing
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moveZrel(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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Z_offset = probe_grid[0][0]
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Z_offset = probe_result[0][0]
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print "The origin Z height is", Z_offset
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probe_grid = [[elem - Z_offset for elem in row] for row in probe_grid]
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probe_result = [[elem - Z_offset for elem in row] for row in probe_result]
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# Return to the grid's origin
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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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moveZrel(10, F_slowMove) # Lift Z
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moveXY(grid_origin_X, grid_origin_Y, F_fastMove) # Move to grid's origin
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duration = datetime.now() - beginTime
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print "Probing duration:", str(duration)
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@ -209,3 +213,6 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
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return (x_points, y_points, probe_result, Z_offset, duration_s)
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@ -31,12 +31,17 @@ def plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, trav
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plotPoints(etch_moves, etch_color, etch_diam)
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plotPoints(travel_moves, travel_color, travel_diam)
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def view(filePath,fileName):
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def pltShowNonBlocking():
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plt.ion() # Enable real-time plotting to avoid blocking behaviour for plt.show()
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plt.show()
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plt.ioff() # Disable real-time plotting
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def view(filePath,fileName,showAll=0,showEtch=0,showEtch2=0,showEtch3=0,showDrill=0,showEdge=0):
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#filePath = "../GcodeGenerators/pyGerber2Gcode_CUI/out/"
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#fileName = "printshield" # sys.argv[1]
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plt.figure()
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fig = plt.figure()
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drill_diam = 0.8
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etch_diam = 0.1
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@ -65,38 +70,42 @@ def view(filePath,fileName):
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plt.title("Gcode viewer")
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plt.axis('equal') # 1:1 aspect ratio
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print "\n Loading etch..."
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gcode_file = filePath+fileName+"_etch.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, travel_diam)
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if showAll or showEtch:
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print "\n Loading etch..."
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gcode_file = filePath+fileName+"_etch.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, travel_diam)
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print "\n Loading etch (2nd pass)..."
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gcode_file = filePath+fileName+"_etch2pass.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, etch2pass_color, travel_color, etch2pass_diam, travel_diam)
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if showAll or showEtch2:
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print "\n Loading etch (2nd pass)..."
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gcode_file = filePath+fileName+"_etch2pass.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, etch2pass_color, travel_color, etch2pass_diam, travel_diam)
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print "\n Loading etch (3nd pass)..."
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gcode_file = filePath+fileName+"_etch3pass.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, etch3pass_color, travel_color, etch3pass_diam, travel_diam)
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if showAll or showEtch3:
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print "\n Loading etch (3nd pass)..."
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gcode_file = filePath+fileName+"_etch3pass.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, etch3pass_color, travel_color, etch3pass_diam, travel_diam)
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print "\n Loading drill..."
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gcode_file = filePath+fileName+"_drill.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, drill_color, travel_color, drill_diam, travel_diam)
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if showAll or showDrill:
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print "\n Loading drill..."
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gcode_file = filePath+fileName+"_drill.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, drill_color, travel_color, drill_diam, travel_diam)
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print "\n Loading edge..."
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gcode_file = filePath+fileName+"_edge.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, edge_color, travel_color, edge_diam, travel_diam)
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if showAll or showEdge:
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print "\n Loading edge..."
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gcode_file = filePath+fileName+"_edge.gcode"
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(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
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(etch_moves, travel_moves) = gcp.optimize(etch_moves)
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plotPath(etch_moves, travel_moves, edge_color, travel_color, edge_diam, travel_diam)
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plt.ion() # Enable real-time plotting to avoid blocking behaviour for pyplot
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plt.show()
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pltShowNonBlocking()
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return plt
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return (etch_moves, travel_moves, fig)
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File diff suppressed because it is too large
Load Diff
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@ -1,59 +1,59 @@
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(Generated by ./pygerber2gcode_cui_MOD.py )
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( 2013-05-29 17:29:04 )
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( 2013-05-29 19:50:34 )
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(Initialize)
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(Start form here)
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G0 Z2.000000
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G0 X59.163215 Y58.401215
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G0 X69.163215 Y58.401215
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G1 Z-0.271429 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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G1 Z-0.542857 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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G1 Z-0.814286 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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G1 Z-1.085714 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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G1 Z-1.357143 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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G1 Z-1.628571 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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G1 Z-1.900000 F30.000000
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G1 X3.029215 F50.000000
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G1 X13.029215 F50.000000
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G1 Y4.553215 F50.000000
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G1 Y4.299215 F50.000000
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G1 X60.433215 F50.000000
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G1 X70.433215 F50.000000
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G1 Y58.401215 F50.000000
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G1 X59.163215 F50.000000
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G1 X69.163215 F50.000000
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(Goto to Initial position)
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G0 Z2.000000
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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@ -27,7 +27,7 @@ OUT_INCH_FLAG=0
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MCODE_FLAG=0
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XY_SPEED=100
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Z_SPEED=60
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LEFT_X=5.0
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LEFT_X=15.0
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LOWER_Y=5.0
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DRILL_SPEED=30
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DRILL_DEPTH=-1.7
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@ -0,0 +1,194 @@
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#!/usr/bin/python
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# AUTHOR:
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# Carlosgs (http://carlosgs.es)
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# LICENSE:
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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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# 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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# Begin configuration
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BAUDRATE = 115200
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DEVICE = "/dev/ttyUSB0"
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# End configuration
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# Begin modules
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import sys
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from datetime import datetime
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import time
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import numpy as np
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from scipy import interpolate
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import matplotlib.pyplot as plt
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sys.path.append("../CycloneHost")
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import GcodeViewer as gcv
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import CycloneHost as cy
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# End modules
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filePath = "../GcodeGenerators/pyGerber2Gcode_CUI/out/"
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fileName = "printshield" # sys.argv[1]
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# Display the Gcode that is going to be etched
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(etch_moves, travel_moves, gcodeviewer) = gcv.view(filePath,fileName,showEtch=1)
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figId = gcodeviewer.number
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def pltShowNonBlocking():
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plt.ion() # Enable real-time plotting to avoid blocking behaviour for plt.show()
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plt.show()
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plt.ioff() # Disable real-time plotting
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toolPos_point = []
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def toolPos_draw(x, y, etching=0):
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if etching:
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color = 'r'
|
||||
else:
|
||||
color = 'g'
|
||||
toolPos_point.set_data(x, y)
|
||||
toolPos_point.set_color(color)
|
||||
gcodeviewer.canvas.draw()
|
||||
|
||||
toolRefreshSteps = 1
|
||||
toolRefresh = 50
|
||||
def toolPos_refresh(x, y, etching=0):
|
||||
global toolRefresh
|
||||
if toolRefresh >= toolRefreshSteps:
|
||||
toolPos_draw(toolPos_X, toolPos_Y, etching)
|
||||
toolRefresh = 0
|
||||
toolRefresh = toolRefresh + 1
|
||||
|
||||
def drawTool(x, y):
|
||||
global toolPos_point
|
||||
plt.figure(figId)
|
||||
toolPos_point, = plt.plot(0, 0, markersize=12, c='g', marker='x')
|
||||
pltShowNonBlocking()
|
||||
|
||||
F_slowMove = 200 # Move speed [mm/min?]
|
||||
F_fastMove = 700
|
||||
|
||||
F_etchMove = 50
|
||||
F_drillMove = 50
|
||||
F_edgeMove = 25
|
||||
|
||||
|
||||
cy.connect(BAUDRATE, DEVICE)
|
||||
|
||||
cy.sendCommand("G90\n") # Set absolute positioning
|
||||
|
||||
cy.homeZXY() # Home all the axis
|
||||
|
||||
drawTool(10, 20) # Show a marker on the gcode plot
|
||||
|
||||
|
||||
|
||||
# Warning: Do not lower too much or you will potentially cause damage!
|
||||
initial_Z_lowering_distance = -20
|
||||
cy.moveZrelSafe(initial_Z_lowering_distance,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord)
|
||||
|
||||
Z_origin_offset = cy.probeZ()
|
||||
print "Z offset:", Z_origin_offset
|
||||
|
||||
|
||||
Z_workbed_surface = []
|
||||
|
||||
def probingResults():
|
||||
global Z_workbed_surface
|
||||
x_points = [0.0, 12.272727272727273, 24.545454545454547, 36.81818181818182, 49.09090909090909, 61.36363636363637, 73.63636363636364, 85.9090909090909, 98.18181818181819, 110.45454545454547, 122.72727272727273, 135.0]
|
||||
y_points = [0.0, 16.8, 33.6, 50.400000000000006, 67.2, 84.0]
|
||||
probe_result = [[0.0, 0.2, 0.4, 0.53, 0.58, 0.6, 0.56, 0.53, 0.5, 0.44, 0.33, 0.2], [-0.03, 0.07, 0.16, 0.26, 0.32, 0.33, 0.33, 0.33, 0.29, 0.23, 0.15, 0.05], [-0.07, 0.0, 0.05, 0.12, 0.16, 0.2, 0.2, 0.22, 0.2, 0.16, 0.08, 0.0], [-0.07, -0.03, 0.04, 0.11, 0.15, 0.19, 0.2, 0.22, 0.22, 0.19, 0.11, 0.04], [0.0, 0.04, 0.08, 0.19, 0.23, 0.29, 0.33, 0.36, 0.37, 0.32, 0.2, 0.11], [0.13, 0.2, 0.27, 0.37, 0.44, 0.51, 0.55, 0.61, 0.64, 0.55, 0.41, 0.22]]
|
||||
duration = 346.076061
|
||||
|
||||
# Show our grid
|
||||
# print "--- Probing results ---"
|
||||
# print "-> X points:", x_points
|
||||
# print "-> Y points:", y_points
|
||||
# print "-> Grid:", probe_result
|
||||
# print "-> Duration:", duration
|
||||
|
||||
# Must be converted into arrays to use scipy
|
||||
x_points = np.array(x_points)
|
||||
y_points = np.array(y_points)
|
||||
probe_result = np.array(probe_result)
|
||||
|
||||
# plt.figure()
|
||||
# plt.pcolor(x_points, y_points, probe_result)
|
||||
# plt.colorbar()
|
||||
# plt.title("Z probing results [mm]")
|
||||
# plt.axis('equal') # 1:1 aspect ratio
|
||||
# pltShowNonBlocking()
|
||||
|
||||
# Interpolation
|
||||
Z_workbed_surface = interpolate.RectBivariateSpline(y_points, x_points, probe_result)
|
||||
|
||||
x_points = np.linspace(min(x_points),max(x_points),100)
|
||||
y_points = np.linspace(min(y_points),max(y_points),100)
|
||||
|
||||
z_points = Z_workbed_surface(y_points,x_points)
|
||||
|
||||
plt.figure()
|
||||
plt.pcolor(x_points, y_points, z_points)
|
||||
plt.colorbar()
|
||||
plt.title("Z probing results (interpolated) [mm]")
|
||||
plt.axis('equal') # 1:1 aspect ratio
|
||||
pltShowNonBlocking()
|
||||
|
||||
def getZoffset(x,y):
|
||||
return Z_workbed_surface(y,x)[0][0]
|
||||
|
||||
probingResults()
|
||||
|
||||
|
||||
#print "Zero:",str(getZoffset(0,0))
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
toolPos_X = 0
|
||||
toolPos_Y = 0
|
||||
toolPos_Z = 0
|
||||
|
||||
X_dest = 0
|
||||
Y_dest = 0
|
||||
Z_dest = 0
|
||||
|
||||
|
||||
cy.moveZrelSafe(10,F_slowMove)
|
||||
toolPos_Z = 10
|
||||
|
||||
plt.figure(figId)
|
||||
|
||||
Zlift = 0.5
|
||||
|
||||
for path in etch_moves:
|
||||
toolRefresh = 0
|
||||
toolPos_draw(toolPos_X, toolPos_Y, etching=0)
|
||||
cy.moveZrel(Zlift,F_fastMove) # Raise and move to next point
|
||||
X_dest = path[0][0]
|
||||
Y_dest = path[0][1]
|
||||
cy.moveXY(X_dest, Y_dest, F_fastMove)
|
||||
toolPos_draw(X_dest, Y_dest, etching=0)
|
||||
cy.moveZrel(-Zlift,F_slowMove)
|
||||
for coord in path[1:]:
|
||||
X_dest = coord[0]
|
||||
Y_dest = coord[1]
|
||||
Z_dest = coord[2]
|
||||
#print "Pos:",toolPos_X, toolPos_Y
|
||||
Z_real = Z_dest+Z_origin_offset+getZoffset(X_dest, Y_dest)+0.02+10
|
||||
cy.moveXYZ(X_dest, Y_dest, Z_real, F_slowMove)
|
||||
toolPos_refresh(toolPos_X, toolPos_Y, etching=1)
|
||||
|
||||
toolPos_X = X_dest
|
||||
toolPos_Y = Y_dest
|
||||
toolPos_Z = Z_dest
|
||||
|
||||
#cy.close() # Close the serial port connection
|
||||
|
||||
raw_input("Press enter to exit...")
|
||||
|
||||
|
|
@ -40,11 +40,18 @@ grid_N = (12,6) # Number of points
|
|||
|
||||
Zlift = 0.5 # mm
|
||||
|
||||
F_slowMove = 100
|
||||
|
||||
# Warning: Do not lower too much or you will potentially cause damage!
|
||||
initial_Z_lowering_distance = -15
|
||||
cy.moveZrelSafe(initial_Z_lowering_distance,F_slowMove) # Move Z towards the PCB (saves some probing time for the first coord)
|
||||
|
||||
(x_points, y_points, probe_result, Z_offset, duration) = cy.probeGrid(grid_origin, grid_len, grid_N, Zlift)
|
||||
#(x_points, y_points, probe_result, Z_offset, duration) = cy.probeGrid(grid_origin, grid_len, grid_N, Zlift)
|
||||
|
||||
x_points = [0.0, 12.272727272727273, 24.545454545454547, 36.81818181818182, 49.09090909090909, 61.36363636363637, 73.63636363636364, 85.9090909090909, 98.18181818181819, 110.45454545454547, 122.72727272727273, 135.0]
|
||||
y_points = [0.0, 16.8, 33.6, 50.400000000000006, 67.2, 84.0]
|
||||
probe_result = [[0.0, 0.2, 0.4, 0.53, 0.58, 0.6, 0.56, 0.53, 0.5, 0.44, 0.33, 0.2], [-0.03, 0.07, 0.16, 0.26, 0.32, 0.33, 0.33, 0.33, 0.29, 0.23, 0.15, 0.05], [-0.07, 0.0, 0.05, 0.12, 0.16, 0.2, 0.2, 0.22, 0.2, 0.16, 0.08, 0.0], [-0.07, -0.03, 0.04, 0.11, 0.15, 0.19, 0.2, 0.22, 0.22, 0.19, 0.11, 0.04], [0.0, 0.04, 0.08, 0.19, 0.23, 0.29, 0.33, 0.36, 0.37, 0.32, 0.2, 0.11], [0.13, 0.2, 0.27, 0.37, 0.44, 0.51, 0.55, 0.61, 0.64, 0.55, 0.41, 0.22]]
|
||||
duration = 346.076061
|
||||
|
||||
# Show our grid
|
||||
print "--- Probing results ---"
|
||||
|
|
@ -53,13 +60,38 @@ print "-> Y points:", y_points
|
|||
print "-> Grid:", probe_result
|
||||
print "-> Duration:", duration
|
||||
|
||||
plt.ion() # Enable real-time plotting to avoid blocking behaviour for pyplot
|
||||
# Must be converted into arrays to use scipy
|
||||
x_points = np.array(x_points)
|
||||
y_points = np.array(y_points)
|
||||
probe_result = np.array(probe_result)
|
||||
|
||||
plt.figure(1)
|
||||
plt.pcolor(np.array(x_points), np.array(y_points), np.array(probe_result))
|
||||
def pltShowNonBlocking():
|
||||
plt.ion() # Enable real-time plotting to avoid blocking behaviour for plt.show()
|
||||
plt.show()
|
||||
plt.ioff() # Disable real-time plotting
|
||||
|
||||
plt.figure()
|
||||
plt.pcolor(x_points, y_points, probe_result)
|
||||
plt.colorbar()
|
||||
plt.title("Z probing results [mm]")
|
||||
plt.show()
|
||||
plt.axis('equal') # 1:1 aspect ratio
|
||||
pltShowNonBlocking()
|
||||
|
||||
# Interpolation
|
||||
Z_workbed_surface = interpolate.RectBivariateSpline(y_points, x_points, probe_result)
|
||||
|
||||
x_points = np.linspace(min(x_points),max(x_points),100)
|
||||
y_points = np.linspace(min(y_points),max(y_points),100)
|
||||
|
||||
z_points = Z_workbed_surface(y_points,x_points)
|
||||
print z_points
|
||||
|
||||
plt.figure()
|
||||
plt.pcolor(x_points, y_points, z_points)
|
||||
plt.colorbar()
|
||||
plt.title("Z probing results (interpolated) [mm]")
|
||||
plt.axis('equal') # 1:1 aspect ratio
|
||||
pltShowNonBlocking()
|
||||
|
||||
# TODO:
|
||||
# - Export results to a file with a standarized format
|
||||
|
|
|
|||
|
|
@ -0,0 +1,55 @@
|
|||
# -*- encoding: utf-8 -*-
|
||||
# Based on http://scipy-user.10969.n7.nabble.com/2D-Interpolation-td4248.html
|
||||
|
||||
import scipy
|
||||
import scipy.interpolate
|
||||
|
||||
def pltShowNonBlocking():
|
||||
plt.ion() # Enable real-time plotting to avoid blocking behaviour for plt.show()
|
||||
plt.show()
|
||||
plt.ioff() # Disable real-time plotting
|
||||
|
||||
# the two axes
|
||||
x = scipy.array([0.0, 12.272727272727273, 24.545454545454547, 36.81818181818182, 49.09090909090909, 61.36363636363637, 73.63636363636364, 85.9090909090909, 98.18181818181819, 110.45454545454547, 122.72727272727273, 135.0])
|
||||
y = scipy.array([0.0, 16.8, 33.6, 50.400000000000006, 67.2, 84.0])
|
||||
|
||||
# make some pretend data
|
||||
gridy, gridx = scipy.meshgrid(x,y)
|
||||
z = scipy.array([[0.0, 0.2, 0.4, 0.53, 0.58, 0.6, 0.56, 0.53, 0.5, 0.44, 0.33, 0.2], [-0.03, 0.07, 0.16, 0.26, 0.32, 0.33, 0.33, 0.33, 0.29, 0.23, 0.15, 0.05], [-0.07, 0.0, 0.05, 0.12, 0.16, 0.2, 0.2, 0.22, 0.2, 0.16, 0.08, 0.0], [-0.07, -0.03, 0.04, 0.11, 0.15, 0.19, 0.2, 0.22, 0.22, 0.19, 0.11, 0.04], [0.0, 0.04, 0.08, 0.19, 0.23, 0.29, 0.33, 0.36, 0.37, 0.32, 0.2, 0.11], [0.13, 0.2, 0.27, 0.37, 0.44, 0.51, 0.55, 0.61, 0.64, 0.55, 0.41, 0.22]])
|
||||
|
||||
# create a spline interpolator
|
||||
spl = scipy.interpolate.RectBivariateSpline(y,x,z)
|
||||
|
||||
# make some new axes to interpolate to
|
||||
nx = scipy.linspace(min(x),max(x),100)
|
||||
ny = scipy.linspace(min(y),max(y),100)
|
||||
|
||||
# evaluate
|
||||
nz = spl(ny, nx)
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
plt.figure()
|
||||
plt.pcolor(x, y, z)
|
||||
plt.title("Datos [mm]")
|
||||
plt.colorbar()
|
||||
plt.axis('equal') # 1:1 aspect ratio
|
||||
pltShowNonBlocking()
|
||||
|
||||
plt.figure()
|
||||
plt.pcolor(nx, ny, nz)
|
||||
plt.title("Datos interpolados [mm]")
|
||||
plt.colorbar()
|
||||
plt.axis('equal') # 1:1 aspect ratio
|
||||
pltShowNonBlocking()
|
||||
|
||||
# Comprobación de que el error es mínimo
|
||||
plt.figure()
|
||||
plt.pcolor(x, y, spl(y,x) - z)
|
||||
plt.title("Diferencia entre datos originales e interpolados (error) [mm]")
|
||||
plt.colorbar()
|
||||
plt.axis('equal') # 1:1 aspect ratio
|
||||
pltShowNonBlocking()
|
||||
|
||||
raw_input("Press enter to exit...")
|
||||
|
||||
|
|
@ -19,16 +19,16 @@ import GcodeViewer as gcv
|
|||
# End modules
|
||||
|
||||
# Temporary path to speedup testing
|
||||
#import os
|
||||
#from subprocess import call
|
||||
#os.chdir("../GcodeGenerators/pyGerber2Gcode_CUI/")
|
||||
#call(["pypy","./pygerber2gcode_cui_MOD.py"])
|
||||
#os.chdir("../../gcode_Z_adjust")
|
||||
import os
|
||||
from subprocess import call
|
||||
os.chdir("../GcodeGenerators/pyGerber2Gcode_CUI/")
|
||||
call(["pypy","./pygerber2gcode_cui_MOD.py"])
|
||||
os.chdir("../../gcode_Z_adjust")
|
||||
|
||||
filePath = "../GcodeGenerators/pyGerber2Gcode_CUI/out/"
|
||||
fileName = "printshield" # sys.argv[1]
|
||||
|
||||
gcv.view(filePath,fileName)
|
||||
gcv.view(filePath,fileName,showAll=1)
|
||||
|
||||
raw_input("Press enter to exit...")
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue