# Based on Two stage example Virtual Machine file by Nadya Peek Dec 2014 # moves get set in Main # usb port needs to be set in initInterfaces #------IMPORTS------- from pygestalt import nodes from pygestalt import interfaces from pygestalt import machines from pygestalt import functions from pygestalt.machines import elements from pygestalt.machines import kinematics from pygestalt.machines import state from pygestalt.utilities import notice from pygestalt.publish import rpc #remote procedure call dispatcher import time import io import sys # this is so we can read a parameter #------READ FILENAME AS PARAMETER------ if (len(sys.argv) > 1): filename = sys.argv[1] else: filename = 'stars.camm' # If no filename set, use this example name #------VIRTUAL MACHINE------ class virtualMachine(machines.virtualMachine): def initInterfaces(self): if self.providedInterface: self.fabnet = self.providedInterface #providedInterface is defined in the virtualMachine class. else: self.fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = 'COM8')) def initControllers(self): self.xAxisNode = nodes.networkedGestaltNode('X Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.yAxisNode = nodes.networkedGestaltNode('Y Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.zAxisNode = nodes.networkedGestaltNode('Z Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.xyzNode = nodes.compoundNode(self.xAxisNode, self.yAxisNode, self.zAxisNode) def initCoordinates(self): self.position = state.coordinate(['mm', 'mm', 'mm']) def initKinematics(self): self.xAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(True)]) self.yAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(False)]) self.zAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(18), elements.invert.forward(False)]) self.stageKinematics = kinematics.direct(3) #direct drive on all axes def initFunctions(self): self.move = functions.move(virtualMachine = self, virtualNode = self.xyzNode, axes = [self.xAxis, self.yAxis, self.zAxis], kinematics = self.stageKinematics, machinePosition = self.position,planner = 'null') self.jog = functions.jog(self.move) #an incremental wrapper for the move function pass def initLast(self): #self.machineControl.setMotorCurrents(aCurrent = 0.8, bCurrent = 0.8, cCurrent = 0.8) #self.xNode.setVelocityRequest(0) #clear velocity on nodes. Eventually this will be put in the motion planner on initialization to match state. pass def publish(self): #self.publisher.addNodes(self.machineControl) pass def getPosition(self): return {'position':self.position.future()} def setPosition(self, position = [None]): self.position.future.set(position) def setSpindleSpeed(self, speedFraction): #self.machineControl.pwmRequest(speedFraction) pass #------IF RUN DIRECTLY FROM TERMINAL------ if __name__ == '__main__': # The persistence file remembers the node you set. It'll generate the first time you run the # file. If you are hooking up a new node, delete the previous persistence file. stages = virtualMachine(persistenceFile = "test.vmp") # You can load a new program onto the nodes if you are so inclined. This is currently set to # the path to the 086-005 repository on Nadya's machine. #stages.xyNode.loadProgram('../../../086-005/086-005a.hex') # This is a widget for setting the potentiometer to set the motor current limit on the nodes. # The A4982 has max 2A of current, running the widget will interactively help you set. #stages.xyNode.setMotorCurrent(0.7) # This is for how fast the stages.xyzNode.setVelocityRequest(3) # Read moves from file # Open a .camm file created with the fab modules from an SVG # This file is in HPGL format, a simple text file with # PU (pen up) and PD (pen down commands) # Each command is followed by an x,y coordinate to move to # and delimited with semicolons. This reads all lines into one string. with open(filename, 'r') as myfile: data="".join(line.rstrip() for line in myfile) # Split the string into a list of individual commands commands = data.split(";") # For each command in the list, get the command # (i.e. PU or PD, ignoring everything else) # and the x, y coordinates moves = [] z = int(0) for command in commands: # Using python string operations, get first two characters c = command[0:2] # Get everything after character 2 as a string coords = command[2:] # Split it into a list of coordinates coordlist = coords.split(",") # Take the x and coordinates x = coordlist[0] y = coordlist[-1] # Now do something with those commands and numbers # These prints can be replaced with gestalt commands #append the coordinates to array if (c == "PD"): z = int(z) + int(1) if (c == "PU"): z = int(z) if (z > int(500)): z = int(0) if (c == "PU") or (c == "PD"): tempcoord = [] x = int(x)/39.8 y = int(y)/39.8 if (x == int(0)): x = int(0) if (y == int(0)): y = int(0) else: y = y - 150 if (y == int(0)): y = int(0) if (x == int(0)): x = int(0) else: x = x - 150 else : x = x - 150 y = y - 150 if (x >= int(130)): x = int(130) if (x <= int(-130)): x = int(-130) if (y >= int(130)): y = int(130) if (y <= int(-130)): y = int(-130) tempcoord.append(int(x)) tempcoord.append(int(y)) tempcoord.append(int(z)) tempcoord.append(c) moves.append(tempcoord) # Moves from file # moves = [[10,10,15],[20,20],[10,10],[0,0]] #Move! for move in moves: justmovecoords = move[0:3] #remove the PU/PD stages.move(justmovecoords, 0) #status = stages.xAxisNode.spinStatusRequest() # This checks to see if the move is done. #while status['stepsRemaining'] > 0: #time.sleep(0.001) #status = stages.xAxisNode.spinStatusRequest()