#------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 random import sys import os import time from Tkinter import * #------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 = '/dev/tty.usbserial-FTXW4F9H')) 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.uAxisNode = nodes.networkedGestaltNode('U Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.xyuNode = nodes.compoundNode(self.xAxisNode, self.yAxisNode, self.uAxisNode) 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(False)]) self.yAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(False)]) self.uAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), 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.xyuNode, axes = [self.xAxis, self.yAxis, self.uAxis], 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.xyzNode.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, None, 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 move (?) stages.xyuNode.setVelocityRequest(8) # Base values used for while-loop operation = [0,0,0] manual = [operation] #From the physical absolute-zero; this is the most balanced point #abs_zero = [10,5,0] #Go an return to the first answer; "Use antimony" #neg_one uses the last value from 'ans_one' as zero... this should be corrected ans_one = [[0,25,0],[100,125,100] ] #use antimony neg_one = [[25,52.5,12.5],[0,0,0]] ans_two = [[0,60,0],[80,140,80],[80,135,70]] #ask niel neg_two = [[-60,-60,-60],[-75,-135,-75]] ans_thr = [[45,0,40],[45,0,60],[60,0,60],[125,65,125]]#japanese neg_thr = [[-60,-60,-60],[-130,-65,-125]] var = 1 while var == 1: inn = raw_input(">> ") ans_list = [ans_one, ans_two, ans_thr] rnd_ans = random.choice(ans_list) # Single direction control if inn == "q": operation[0] = operation[0] + 5 print "Coordiantes: ", operation[0:4] elif inn == "w": operation[1] = operation[1] + 5 print "Coordiantes: ", operation[0:4] elif inn == "e": operation[2] = operation[2] + 5 print "Coordiantes: ", operation[0:4] # Negative single direction control elif inn == "Q": operation[0] = operation[0] - 5 print "Coordiantes: ", operation[0:4] elif inn == "W": operation[1] = operation[1] - 5 print "Coordiantes: ", operation[0:4] elif inn == "E": operation[2] = operation[2] - 5 print "Coordiantes: ", operation[0:4] # Positive & negative +- 5 control elif inn == "z": operation[0] = operation[0] + 5 operation[1] = operation[1] + 5 operation[2] = operation[2] + 5 print "Coordiantes: ", operation[0:4] elif inn == "x": operation[0] = operation[0] - 5 operation[1] = operation[1] - 5 operation[2] = operation[2] - 5 print "Coordiantes: ", operation[0:4] elif inn == "Z": operation[0] = operation[0] + 50 operation[1] = operation[1] + 50 operation[2] = operation[2] + 50 print "Coordiantes: ", operation[0:4] elif inn == "X": operation[0] = operation[0] - 50 operation[1] = operation[1] - 50 operation[2] = operation[2] - 50 print "Coordiantes: ", operation[0:4] elif inn == "c": break # Random answer selector elif inn == "r": manual = rnd_ans print "Coordiantes: ", manual # Answer selection elif inn == "1": # 1 manual = ans_one print "Coordinates: ", manual elif inn == "-1": manual = neg_one print "Coordinates: ", manual elif inn == "2": # 2 manual = ans_two print "Coordinates: ", manual elif inn == "-2": manual = neg_two print "Coordinates: ", manual elif inn == "3": # 3 manual = ans_thr print "Coordinates: ", manual elif inn == "-3": manual = neg_thr print "Coordinates: ", manual else: operation = operation var = 2 for move in manual: stages.move(move, 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()