# Two stage example Virtual Machine file # moves get set in Main # usb port needs to be set in initInterfaces # Nadya Peek Dec 2014 # ------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 csv # ------VIRTUAL MACHINE------ class virtualMachine(machines.virtualMachine): """ Need to insert the /dev/tty.usbserial.XXXXXX as per your machine """ 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='/dev/ttyUSB0') ) 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) # register the nodes 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(True)]) self.zAxis = elements.elementChain.forward( [elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(True)]) # direct drive on all axes self.stageKinematics = kinematics.direct(3) 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') # an incremental wrapper for the move function self.jog = functions.jog(self.move) 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 def enableMotorsRequest(self): # return self.enableRequest() pass def disableMotorsRequest(self): # return self.disableRequest() pass def loadSVG(): moves = [] fname = raw_input("Enter filename: ") if len(fname) == 0: fname = "plot.csv" try: fh = open(fname) except: print "Error: File (", fname, ") cannot be opened." exit() plot = csv.reader(fh) for ele in plot: x = round(float(ele[0]), 1) y = round(float(ele[1]), 1) z = round(float(ele[0]), 1) move = (x,y,z) print move moves.append(move) fh.close() print ("Reading done!") # ------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 system will run stages.xyzNode.setVelocityRequest(1) # Some random moves to test with # print calibration instructions print "Type to move xAxis fwd/backward" print "Type to move yAxis up/down" print "Type to move zAxis up/down" print "Type when done with calibration" x = y = z = 0 while True: ch = raw_input("x[w,s], y[a,d], z[t,g], q :") if ch == 'q': break elif ch == 'w': stages.jog([-2, 0, 0]) elif ch == 's': stages.jog([2, 0, 0]) elif ch == 'a': stages.jog([0, -2, 0]) elif ch == 'd': stages.jog([0, 2, 0]) elif ch == 't': stages.jog([0, 0, -2]) elif ch == 'g': stages.jog([0, 0, 2]) else: pass stages.initCoordinates() stages.initFunctions() #loadSVG()#used 4 spaces instead of tab to indent. # draw a square 2D, lower z then increase z # moves = [[0, 0, 20], [0, 45, 0], [35, 45, 0], # [35, 10, 0], [0, 10, 0], # [0, 0, 0], [0, 0, -20]] # Move! for move in moves: stages.move(move, 0) status1 = stages.xAxisNode.spinStatusRequest() status2 = stages.yAxisNode.spinStatusRequest() # This checks to see if the move is done. while status1['stepsRemaining'] > 0 or status2['stepsRemaining'] > 0 or status3['stepsRemaining'] > 0: time.sleep(0.001) status1 = stages.xAxisNode.spinStatusRequest() status2 = stages.yAxisNode.spinStatusRequest() status3 = stages.zAxisNode.spinStatusRequest() stages.xyzNode.disableMotorsRequest()