244 lines
6.6 KiB
Python
244 lines
6.6 KiB
Python
#!/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'
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else:
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color = 'g'
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toolPos_point.set_data(x, y)
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toolPos_point.set_color(color)
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gcodeviewer.canvas.draw()
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toolRefreshSteps = 1
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toolRefresh = 0
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def toolPos_refresh(x, y, etching=0):
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global toolRefresh
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if toolRefresh >= toolRefreshSteps:
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toolPos_draw(toolPos_X, toolPos_Y, etching)
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toolRefresh = 0
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toolRefresh = toolRefresh + 1
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def drawTool(x, y):
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global toolPos_point
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plt.figure(figId)
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toolPos_point, = plt.plot(0, 0, markersize=12, c='g', marker='x')
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pltShowNonBlocking()
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F_slowMove = 200 # Move speed [mm/min?]
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F_fastMove = 700
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F_etchMove = F_slowMove
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F_drillMove = 50
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F_edgeMove = 25
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cy.connect(BAUDRATE, DEVICE)
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cy.sendCommand("G90\n") # Set absolute positioning
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cy.homeZXY() # Home all the axis
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drawTool(10, 20) # Show a marker on the gcode plot
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# Warning: Do not lower too much or you will potentially cause damage!
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initial_Z_lowering_distance = -20
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#cy.moveZrelSafe(initial_Z_lowering_distance,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord)
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Z_origin_offset = cy.probeZ()
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print "Z offset:", Z_origin_offset
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Z_workbed_surface = []
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def probingResults():
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global Z_workbed_surface
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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]
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y_points = [0.0, 16.8, 33.6, 50.400000000000006, 67.2, 84.0]
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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]]
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duration = 346.076061
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# Show our grid
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# print "--- Probing results ---"
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# print "-> X points:", x_points
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# print "-> Y points:", y_points
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# print "-> Grid:", probe_result
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# print "-> Duration:", duration
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# Must be converted into arrays to use scipy
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x_points = np.array(x_points)
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y_points = np.array(y_points)
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probe_result = np.array(probe_result)
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# plt.figure()
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# plt.pcolor(x_points, y_points, probe_result)
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# plt.colorbar()
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# plt.title("Z probing results [mm]")
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# plt.axis('equal') # 1:1 aspect ratio
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# pltShowNonBlocking()
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# Interpolation
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Z_workbed_surface = interpolate.RectBivariateSpline(y_points, x_points, probe_result)
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x_points = np.linspace(min(x_points),max(x_points),100)
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y_points = np.linspace(min(y_points),max(y_points),100)
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z_points = Z_workbed_surface(y_points,x_points)
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plt.figure()
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plt.pcolor(x_points, y_points, z_points)
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plt.colorbar()
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plt.title("Z probing results (interpolated) [mm]")
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plt.axis('equal') # 1:1 aspect ratio
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pltShowNonBlocking()
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def getZoffset(x,y):
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return Z_workbed_surface(y,x)[0][0]
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probingResults()
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#print "Zero:",str(getZoffset(0,0))
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toolPos_X = 0
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toolPos_Y = 0
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toolPos_Z = 0
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X_dest = 0
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Y_dest = 0
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Z_dest = 0
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cy.moveZrelSafe(10,F_slowMove)
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toolPos_Z = 10
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plt.figure(figId)
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Zlift = 0.5
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Z_manual_offset = 0.02+10
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maxDistance = 1**2 # [mm^2] 5mm (longer moves will be split to regulate Z)
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minDistance = 0.005**2 # [mm^2] 0.005mm is the smallest distance that will be sent
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def splitLongEtchMove(distance):
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global toolPos_X, toolPos_Y, toolPos_Z, X_dest, Y_dest, Z_dest
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X_dest_tmp = toolPos_X
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Y_dest_tmp = toolPos_Y
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Z_dest_tmp = toolPos_Z
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#distance = distance**0.5 # [mm]
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N_steps = int((distance/maxDistance)**0.5) # **must be** >= 1
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print "Splitting", distance**0.5, "mm segment into", N_steps, "steps"
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print "Orig:", toolPos_X, toolPos_Y, toolPos_Z, "Dest:", X_dest, Y_dest, Z_dest
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X_step = (X_dest-toolPos_X)/float(N_steps)
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Y_step = (Y_dest-toolPos_Y)/float(N_steps)
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Z_step = (Z_dest-toolPos_Z)/float(N_steps)
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for i in range(N_steps) :
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X_dest_tmp = toolPos_X + X_step
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Y_dest_tmp = toolPos_Y + Y_step
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Z_dest_tmp = toolPos_Z + Z_step
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Z_real = Z_dest_tmp+Z_origin_offset+getZoffset(X_dest_tmp, Y_dest_tmp)+Z_manual_offset
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cy.moveXYZ(X_dest_tmp, Y_dest_tmp, Z_real, F_etchMove)
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toolPos_refresh(X_dest_tmp, Y_dest_tmp, etching=1)
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print "Move:",X_dest_tmp, Y_dest_tmp, Z_dest_tmp
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toolPos_X = X_dest_tmp
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toolPos_Y = Y_dest_tmp
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toolPos_Z = Z_dest_tmp
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for path in etch_moves :
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toolRefresh = 0
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toolPos_draw(toolPos_X, toolPos_Y, etching=0)
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cy.moveZrel(Zlift,F_fastMove) # Raise and move to next point
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X_dest = path[0][0]
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Y_dest = path[0][1]
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cy.moveXY(X_dest, Y_dest, F_fastMove)
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toolPos_draw(X_dest, Y_dest, etching=0)
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cy.moveZrel(-Zlift,F_slowMove)
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toolPos_X = X_dest
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toolPos_Y = Y_dest
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toolPos_Z = Z_dest # Not sure..
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for coord in path[1:] :
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X_dest = coord[0]
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Y_dest = coord[1]
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Z_dest = coord[2]
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distance = (X_dest-toolPos_X)**2+(Y_dest-toolPos_Y)**2
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if distance >= maxDistance :
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splitLongEtchMove(distance)
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if distance < minDistance :
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print "Ignoring", distance**0.5, "mm segment!"
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continue
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Z_real = Z_dest+Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset
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cy.moveXYZ(X_dest, Y_dest, Z_real, F_etchMove)
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toolPos_refresh(X_dest, Y_dest, etching=1)
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toolPos_X = X_dest
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toolPos_Y = Y_dest
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toolPos_Z = Z_dest
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cy.close() # Close the serial port connection
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raw_input("Done. Press enter to exit...")
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