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Added emulation for offline tests

pull/6/head
carlosgs 2013-05-30 13:44:30 +02:00
parent 05f84c2f3b
commit 960d4ab56e
2 changed files with 57 additions and 20 deletions
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74
Software/CycloneHost/CycloneHost.py
View File

@ -42,6 +42,7 @@ from helper import *
# Begin configuration. It is overwritten when running setup(baudrate, device) # Begin configuration. It is overwritten when running setup(baudrate, device)
BAUDRATE = 115200 BAUDRATE = 115200
DEVICE = "/dev/ttyUSB0" DEVICE = "/dev/ttyUSB0"
Emulate = 0
# End configuration # End configuration
millis_wait = 0.5 # 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]
@ -51,18 +52,24 @@ OK_response = "ok" # First two characters of an OK response (case insensitive)
CNC_Machine = [] CNC_Machine = []
def connect(baudrate, device): def connect(baudrate, device, emulate = 0):
global CNC_Machine global CNC_Machine, Emulate
BAUDRATE = baudrate BAUDRATE = baudrate
DEVICE = device DEVICE = device
print "Connecting to Cyclone..." print "Connecting to Cyclone..."
CNC_Machine = serial.Serial(DEVICE, BAUDRATE, timeout = serial_timeout) if emulate == 0:
CNC_Machine = serial.Serial(DEVICE, BAUDRATE, timeout = serial_timeout)
Emulate = 0
else:
Emulate = 1
print "Serial port opened, checking connection..." print "Serial port opened, checking connection..."
time.sleep(2) time.sleep(2)
checkConnection(); checkConnection()
print "Connected!" print "Connected!"
def flushRecvBuffer(): # We could also use flushInput(), but showing the data that is being discarded is useful for debugging def flushRecvBuffer(): # We could also use flushInput(), but showing the data that is being discarded is useful for debugging
if Emulate:
return
while CNC_Machine.inWaiting() > 0: while CNC_Machine.inWaiting() > 0:
response = CNC_Machine.readline() response = CNC_Machine.readline()
if response != '': if response != '':
@ -71,13 +78,17 @@ def flushRecvBuffer(): # We could also use flushInput(), but showing the data th
def sendLine(line): def sendLine(line):
flushRecvBuffer() flushRecvBuffer()
CNC_Machine.write(line) if Emulate == 0:
#print "SENT: ", line CNC_Machine.write(line)
print "SENT: ", line
def recvLine(): def recvLine():
response = CNC_Machine.readline() if Emulate:
#if response != '': print "RECV: ", response response = "ok Z30\n" # Asume OK + Z probing result
#else: print "RECV: Receive timed out!" else:
response = CNC_Machine.readline()
if response != '': print "RECV: ", response
else: print "RECV: Receive timed out!"
return response return response
def recvOK(): def recvOK():
@ -87,9 +98,9 @@ def recvOK():
return 0 return 0
def waitForOK(): # This is a blocking function def waitForOK(): # This is a blocking function
#print "Waiting for confirmation" print "Waiting for confirmation"
while recvOK() != 1: while recvOK() != 1:
#print " Checking again..." print " Checking again..."
time.sleep(millis_wait) # Wait some milliseconds between attempts time.sleep(millis_wait) # Wait some milliseconds between attempts
def sendCommand(command): # Send command and wait for OK def sendCommand(command): # Send command and wait for OK
@ -109,26 +120,50 @@ def homeZXY():
sendCommand("G28 Z0\n") # move Z to min endstop sendCommand("G28 Z0\n") # move Z to min endstop
sendCommand("G28 X0\n") # move X to min endstop sendCommand("G28 X0\n") # move X to min endstop
sendCommand("G28 Y0\n") # move Y to min endstop sendCommand("G28 Y0\n") # move Y to min endstop
if Emulate:
time.sleep(3)
def moveXYZ(X, Y, Z, F): def moveXYZ(X, Y, Z, F):
#print "Moving to:" print "Moving to:"
if F <= 0:
print "ERROR: F <= 0"
sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n") sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
if Emulate:
dist = (X**2+Y**2+Z**2)**0.5 # [mm]
speed = F/60 # [mm/s]
time.sleep(dist/speed)
def moveXY(X, Y, F): def moveXY(X, Y, F):
#print "Moving to:" print "Moving to:"
if F <= 0:
print "ERROR: F <= 0"
sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n") sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
if Emulate:
dist = (X**2+Y**2)**0.5 # [mm]
speed = F/60 # [mm/s]
time.sleep(dist/speed)
def moveZ(Z, F): def moveZ(Z, F):
#print "Moving Z absolute:" print "Moving Z absolute:"
if F <= 0:
print "ERROR: F <= 0"
sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n") sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
if Emulate:
dist = abs(Z) # [mm]
speed = F/60 # [mm/s]
time.sleep(dist/speed)
def moveZrel(Z, F): def moveZrel(Z, F):
#print "Moving Z relative:" print "Moving Z relative:"
if F <= 0:
print "ERROR: F <= 0"
sendCommand("G91\n") # Set relative positioning sendCommand("G91\n") # Set relative positioning
sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n") moveZ(Z, F)
sendCommand("G90\n") # Set absolute positioning sendCommand("G90\n") # Set absolute positioning
def moveZrelSafe(Z, F): def moveZrelSafe(Z, F):
if F <= 0:
print "ERROR: F <= 0"
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) moveZrel(Z, F)
sendCommand("M120\n") # Disable endstops (we only use them for homing) sendCommand("M120\n") # Disable endstops (we only use them for homing)
@ -151,7 +186,8 @@ def probeZ():
def close(): def close():
# IMPORTANT: Before closing the serial port we must make a blocking move in order to wait for all the buffered commands to end # IMPORTANT: Before closing the serial port we must make a blocking move in order to wait for all the buffered commands to end
sendCommand("G28 Z0\n") # move Z to min endstop sendCommand("G28 Z0\n") # move Z to min endstop
CNC_Machine.close() # Close the serial port connection if Emulate == 0:
CNC_Machine.close() # Close the serial port connection
def probeGrid(grid_origin, grid_len, grid_N, Zlift): def probeGrid(grid_origin, grid_len, grid_N, Zlift):
grid_origin_X = float(grid_origin[0]) # Initial point of the grid [mm] grid_origin_X = float(grid_origin[0]) # Initial point of the grid [mm]
@ -188,12 +224,12 @@ def probeGrid(grid_origin, grid_len, grid_N, Zlift):
moveXY(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... 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 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 optimises a bit the probing path 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; # Calculate Y coordinate y_val = float(y_i)*grid_inc_Y + grid_origin_Y # Calculate Y coordinate
moveXY(x_val, y_val, F_fastMove) # Move to position moveXY(x_val, y_val, F_fastMove) # Move to position
probe_result[y_i][x_i] = probeZ() # Do the Z probing probe_result[y_i][x_i] = probeZ() # Do the Z probing
moveZrel(Z_probing_lift, F_fastMove/2) # Lift the probe moveZrel(Z_probing_lift, F_fastMove/2) # Lift the probe

3
Software/gcode_Z_adjust/Send.py
View File

@ -14,6 +14,7 @@
# Begin configuration # Begin configuration
BAUDRATE = 115200 BAUDRATE = 115200
DEVICE = "/dev/ttyUSB0" DEVICE = "/dev/ttyUSB0"
Emulate = 1
# End configuration # End configuration
# Begin modules # Begin modules
@ -76,7 +77,7 @@ F_drillMove = 50
F_edgeMove = 25 F_edgeMove = 25
cy.connect(BAUDRATE, DEVICE) cy.connect(BAUDRATE, DEVICE, Emulate)
cy.sendCommand("G90\n") # Set absolute positioning cy.sendCommand("G90\n") # Set absolute positioning