First Z adjust tests. The path of the drill is represented in real time.

Software/CycloneHost/CycloneHost.py

@@ -36,7 +36,7 @@ import serial
 import time
 from datetime import datetime
 
-import helper
+from helper import *
 # End modules
 
 # Begin configuration. It is overwritten when running setup(baudrate, device)
@@ -49,7 +49,10 @@ serial_timeout = 5 # Timeout for the serial port [seconds]
 
 OK_response = "ok" # First two characters of an OK response (case insensitive)
 
+CNC_Machine = []
+
 def connect(baudrate, device):
+	global CNC_Machine
 	BAUDRATE = baudrate
 	DEVICE = device
 	print "Connecting to Cyclone..."
@@ -69,14 +72,12 @@ def flushRecvBuffer(): # We could also use flushInput(), but showing the data th
 def sendLine(line):
 	flushRecvBuffer()
 	CNC_Machine.write(line)
-	print "SENT: ", line
+	#print "SENT: ", line
 
 def recvLine():
 	response = CNC_Machine.readline()
-	if response != '':
+	#if response != '': print "RECV: ", response
-		print "RECV: ", response
+	#else: print "RECV: Receive timed out!"
-	else:
-		print "RECV: Receive timed out!"
 	return response
 
 def recvOK():
@@ -86,9 +87,9 @@ def recvOK():
 	return 0
 
 def waitForOK(): # This is a blocking function
-	print "Waiting for confirmation"
+	#print "Waiting for confirmation"
 	while recvOK() != 1:
-		print "  Checking again..."
+		#print "  Checking again..."
 		time.sleep(millis_wait) # Wait some milliseconds between attempts
 
 def sendCommand(command): # Send command and wait for OK
@@ -109,28 +110,28 @@ def homeZXY():
 	sendCommand("G28 X0\n") # move X to min endstop
 	sendCommand("G28 Y0\n") # move Y to min endstop
 
-def move(X, Y, Z, F):
+def moveXYZ(X, Y, Z, F):
-	print "Moving to:"
+	#print "Moving to:"
 	sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
 
 def moveXY(X, Y, F):
-	print "Moving to:"
+	#print "Moving to:"
 	sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
 
 def moveZ(Z, F):
-	print "Moving Z absolute:"
+	#print "Moving Z absolute:"
 	sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
 
 def moveZrel(Z, F):
-	print "Moving Z relative:"
+	#print "Moving Z relative:"
 	sendCommand("G91\n") # Set relative positioning
 	sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
 	sendCommand("G90\n") # Set absolute positioning
 
 def moveZrelSafe(Z, F):
-	cy.sendCommand("M121\n") # Enable endstops (for protection! usually it should **NOT** hit neither the endstop nor the PCB)
+	sendCommand("M121\n") # Enable endstops (for protection! usually it should **NOT** hit neither the endstop nor the PCB)
 	moveZrel(Z, F)
-	cy.sendCommand("M120\n") # Disable endstops (we only use them for homing)
+	sendCommand("M120\n") # Disable endstops (we only use them for homing)
 
 def probeZ():
 	print "Probing Z"
@@ -164,16 +165,19 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
 	
 	Z_probing_lift = float(Zlift) # lift between Z probings [mm]
 	
+	F_fastMove = 400
+	F_slowMove = 100
+	
 	grid_inc_X = grid_len_X/float(grid_N_X-1) # [mm]
 	grid_inc_Y = grid_len_Y/float(grid_N_Y-1)
 	
 	x_points = [ float(x_i)*grid_inc_X + grid_origin_X for x_i in range(grid_N_X) ] # Calculate X coordinates
 	y_points = [ float(y_i)*grid_inc_Y + grid_origin_Y for y_i in range(grid_N_Y) ] # Calculate X coordinates
 	
-	probe_result = [ [ 0 for j in range(grid_N_Y) ] for i in range(grid_N_X) ]
+	probe_result = [ [ 0 for j in range(grid_N_X) ] for i in range(grid_N_Y) ]
 	
 	# Show our grid (initialised as zeros)
-	for row in probe_grid:
+	for row in probe_result:
 		print row
 	
 	print "Probing begins!"
@@ -181,7 +185,7 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
 	beginTime = datetime.now() # Store current time in a variable, will be used to measure duration of the probing
 	
 	 # Move to grid's origin
-	machineToCoordsXY(grid_origin_X, grid_origin_Y, F_fastMove)
+	moveXY(grid_origin_X, grid_origin_Y, F_fastMove)
 	
 	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
@@ -190,18 +194,18 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
 			optimal_range = reversed(optimal_range)
 		for y_i in optimal_range:
 			y_val = float(y_i)*grid_inc_Y + grid_origin_Y; # Calculate Y coordinate
-			machineToCoordsXY(x_val, y_val, F_fastMove) # Move to position
+			moveXY(x_val, y_val, F_fastMove) # Move to position
-			probe_result[x_i][y_i] = machineProbeZ() # Do the Z probing
+			probe_result[y_i][x_i] = probeZ() # Do the Z probing
-			machineToCoordsZrelative(Z_probing_lift, F_fastMove/2) # Lift the probe
+			moveZrel(Z_probing_lift, F_fastMove/2) # Lift the probe
 
 	# Once we have all the points, we set the origin as (0,0) and offset the rest of values
-	Z_offset = probe_grid[0][0]
+	Z_offset = probe_result[0][0]
 	print "The origin Z height is", Z_offset
-	probe_grid = [[elem - Z_offset for elem in row] for row in probe_grid]
+	probe_result = [[elem - Z_offset for elem in row] for row in probe_result]
 
 	# Return to the grid's origin
-	machineToCoordsZrelative(10, F_slowMove) # Lift Z
+	moveZrel(10, F_slowMove) # Lift Z
-	machineToCoordsXY(grid_origin_X, grid_origin_Y, F_fastMove) # Move to grid's origin
+	moveXY(grid_origin_X, grid_origin_Y, F_fastMove) # Move to grid's origin
 	
 	duration = datetime.now() - beginTime
 	print "Probing duration:", str(duration)
@@ -209,3 +213,6 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
 	
 	return (x_points, y_points, probe_result, Z_offset, duration_s)
 
+
+
+

Software/CycloneHost/GcodeViewer.py

@@ -31,12 +31,17 @@ def plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, trav
 	plotPoints(etch_moves, etch_color, etch_diam)
 	plotPoints(travel_moves, travel_color, travel_diam)
 
-def view(filePath,fileName):
+def pltShowNonBlocking():
+	plt.ion() # Enable real-time plotting to avoid blocking behaviour for plt.show()
+	plt.show()
+	plt.ioff() # Disable real-time plotting
+
+def view(filePath,fileName,showAll=0,showEtch=0,showEtch2=0,showEtch3=0,showDrill=0,showEdge=0):
 	
 	#filePath = "../GcodeGenerators/pyGerber2Gcode_CUI/out/"
 	#fileName = "printshield" # sys.argv[1]
 	
-	plt.figure()
+	fig = plt.figure()
 	
 	drill_diam = 0.8
 	etch_diam = 0.1
@@ -65,38 +70,42 @@ def view(filePath,fileName):
 	plt.title("Gcode viewer")
 	plt.axis('equal') # 1:1 aspect ratio
 	
-	print "\n Loading etch..."
+	if showAll or showEtch:
-	gcode_file = filePath+fileName+"_etch.gcode"
+		print "\n Loading etch..."
-	(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
+		gcode_file = filePath+fileName+"_etch.gcode"
-	(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
-	plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, travel_diam)
+		(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, travel_diam)
 	
-	print "\n Loading etch (2nd pass)..."
+	if showAll or showEtch2:
-	gcode_file = filePath+fileName+"_etch2pass.gcode"
+		print "\n Loading etch (2nd pass)..."
-	(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
+		gcode_file = filePath+fileName+"_etch2pass.gcode"
-	(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
-	plotPath(etch_moves, travel_moves, etch2pass_color, travel_color, etch2pass_diam, travel_diam)
+		(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		plotPath(etch_moves, travel_moves, etch2pass_color, travel_color, etch2pass_diam, travel_diam)
 	
-	print "\n Loading etch (3nd pass)..."
+	if showAll or showEtch3:
-	gcode_file = filePath+fileName+"_etch3pass.gcode"
+		print "\n Loading etch (3nd pass)..."
-	(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
+		gcode_file = filePath+fileName+"_etch3pass.gcode"
-	(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
-	plotPath(etch_moves, travel_moves, etch3pass_color, travel_color, etch3pass_diam, travel_diam)
+		(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		plotPath(etch_moves, travel_moves, etch3pass_color, travel_color, etch3pass_diam, travel_diam)
 	
-	print "\n Loading drill..."
+	if showAll or showDrill:
-	gcode_file = filePath+fileName+"_drill.gcode"
+		print "\n Loading drill..."
-	(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
+		gcode_file = filePath+fileName+"_drill.gcode"
-	(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
-	plotPath(etch_moves, travel_moves, drill_color, travel_color, drill_diam, travel_diam)
+		(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		plotPath(etch_moves, travel_moves, drill_color, travel_color, drill_diam, travel_diam)
 	
-	print "\n Loading edge..."
+	if showAll or showEdge:
-	gcode_file = filePath+fileName+"_edge.gcode"
+		print "\n Loading edge..."
-	(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
+		gcode_file = filePath+fileName+"_edge.gcode"
-	(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		(etch_moves, travel_moves, gcode_originXY, grid_sizeXY) = gcp.parseGcodeRaw(gcode_file)
-	plotPath(etch_moves, travel_moves, edge_color, travel_color, edge_diam, travel_diam)
+		(etch_moves, travel_moves) = gcp.optimize(etch_moves)
+		plotPath(etch_moves, travel_moves, edge_color, travel_color, edge_diam, travel_diam)
 	
-	plt.ion() # Enable real-time plotting to avoid blocking behaviour for pyplot
+	pltShowNonBlocking()
-	plt.show()
 	
-	return plt
+	return (etch_moves, travel_moves, fig)
 

Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_edge.gcode

@@ -1,59 +1,59 @@
 (Generated by ./pygerber2gcode_cui_MOD.py )
-( 2013-05-29 17:29:04 )
+( 2013-05-29 19:50:34 )
 (Initialize)
 
 (Start form here)
 G0 Z2.000000
-G0 X59.163215 Y58.401215
+G0 X69.163215 Y58.401215
 G1 Z-0.271429 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 G1 Z-0.542857 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 G1 Z-0.814286 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 G1 Z-1.085714 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 G1 Z-1.357143 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 G1 Z-1.628571 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 G1 Z-1.900000 F30.000000
-G1 X3.029215 F50.000000
+G1 X13.029215 F50.000000
 G1 Y4.553215 F50.000000
 G1 Y4.299215 F50.000000
-G1 X60.433215 F50.000000
+G1 X70.433215 F50.000000
 G1 Y58.401215 F50.000000
-G1 X59.163215 F50.000000
+G1 X69.163215 F50.000000
 
 (Goto to Initial position)
 G0 Z2.000000

Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.conf

@@ -27,7 +27,7 @@ OUT_INCH_FLAG=0
 MCODE_FLAG=0
 XY_SPEED=100
 Z_SPEED=60
-LEFT_X=5.0
+LEFT_X=15.0
 LOWER_Y=5.0
 DRILL_SPEED=30
 DRILL_DEPTH=-1.7

Software/gcode_Z_adjust/Send.py

@@ -0,0 +1,194 @@
+#!/usr/bin/python
+
+# AUTHOR:
+#   Carlosgs (http://carlosgs.es)
+# LICENSE:
+#   Attribution - Share Alike - Creative Commons (http://creativecommons.org/licenses/by-sa/3.0/)
+#
+# DISCLAIMER:
+#   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
+#   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.
+
+# Begin configuration
+BAUDRATE = 115200
+DEVICE = "/dev/ttyUSB0"
+# End configuration
+
+# Begin modules
+import sys
+from datetime import datetime
+import time
+
+import numpy as np
+from scipy import interpolate
+import matplotlib.pyplot as plt
+
+sys.path.append("../CycloneHost")
+import GcodeViewer as gcv
+import CycloneHost as cy
+# End modules
+
+filePath = "../GcodeGenerators/pyGerber2Gcode_CUI/out/"
+fileName = "printshield" # sys.argv[1]
+
+# Display the Gcode that is going to be etched
+(etch_moves, travel_moves, gcodeviewer) = gcv.view(filePath,fileName,showEtch=1)
+figId = gcodeviewer.number
+
+def pltShowNonBlocking():
+	plt.ion() # Enable real-time plotting to avoid blocking behaviour for plt.show()
+	plt.show()
+	plt.ioff() # Disable real-time plotting
+
+toolPos_point = []
+
+def toolPos_draw(x, y, etching=0):
+	if etching:
+		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...")
+

Software/gcode_Z_adjust/Z_probe.py

@@ -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)
+def pltShowNonBlocking():
-plt.pcolor(np.array(x_points), np.array(y_points), np.array(probe_result))
+	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

Software/gcode_Z_adjust/test.py

@@ -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...")
+

Software/gcode_Z_adjust/viewGcode.py

@@ -19,16 +19,16 @@ import GcodeViewer as gcv
 # End modules
 
 # Temporary path to speedup testing
-#import os
+import os
-#from subprocess import call
+from subprocess import call
-#os.chdir("../GcodeGenerators/pyGerber2Gcode_CUI/")
+os.chdir("../GcodeGenerators/pyGerber2Gcode_CUI/")
-#call(["pypy","./pygerber2gcode_cui_MOD.py"])
+call(["pypy","./pygerber2gcode_cui_MOD.py"])
-#os.chdir("../../gcode_Z_adjust")
+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...")