from kivy.uix.popup import Popup from kivy.app import App from kivy.uix.gridlayout import GridLayout from kivy.uix.label import Label from kivy.uix.textinput import TextInput from kivy.uix.button import Button from kivy.uix.boxlayout import BoxLayout from kivy.uix.stacklayout import StackLayout from kivy.uix.slider import Slider from kivy.config import Config Config.set('modules', 'serial', '') # Forked from DFUnitVM Oct 2013 # set portname # set location of hex file for bootloader # #------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 threading import serial #------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-FT0METG6')) def initControllers(self): self.xAxisNode = nodes.networkedGestaltNode('X Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.xNode = nodes.compoundNode(self.xAxisNode) def initCoordinates(self): self.position = state.coordinate(['mm']) def initKinematics(self): self.xAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(6.096), elements.invert.forward(True)]) self.stageKinematics = kinematics.direct(1) #direct drive on all axes def initFunctions(self): self.move = functions.move(virtualMachine = self, virtualNode = self.xNode, axes = [self.xAxis], 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]): self.position.future.set(position) def setSpindleSpeed(self, speedFraction): # self.machineControl.pwmRequest(speedFraction) pass class FabControl(GridLayout): def __init__(self, **kwargs): super(FabControl, self).__init__(**kwargs) self.cols = 3 self.row = 3 global serialcom, tempmotor1, tempmotor2, tempmotor3 tempmotor1 = 120 tempmotor2 = 90 tempmotor3 = 90 serialcom = serial.Serial() serialcom.braudrate = 115200 serialcom.port = "/dev/tty.usbmodem1421" serialcom.open() self.add_widget(Label(text='Motor1 [ 0 to 120 ] ')) self.motor1 = Slider(min=-30, max=120, value=120) self.motor1.bind(value=self.Motor1Change) self.add_widget(self.motor1) self.motor1value = Label(text=str(self.motor1.value)) self.add_widget(self.motor1value) self.add_widget(Label(text='Motor2 [ 0 to 180 ] ')) self.motor2 = Slider(min=0, max=180, value=90) self.motor2.bind(value=self.Motor2Change) self.add_widget(self.motor2) self.motor2value = Label(text=str(self.motor2.value)) self.add_widget(self.motor2value) self.add_widget(Label(text='Motor3 [ 45 to 130 ] ')) self.motor3 = Slider(min=45, max=130, value=90) self.motor3.bind(value=self.Motor3Change) self.add_widget(self.motor3) self.motor3value = Label(text=str(self.motor3.value)) self.add_widget(self.motor3value) self.add_widget(Label(text='Motor4 [ -100 to 100 ] ')) self.motor4 = Slider(min=-100, max=100, value=0) self.motor4.bind(value=self.Motor4Change) self.add_widget(self.motor4) self.motor4value = Label(text=str(self.motor4.value)) self.add_widget(self.motor4value) self.move = Button(text="Move") self.add_widget(self.move) self.move.bind(on_press=self.initiatemove) self.startrec = Button(text="Start Record") self.add_widget(self.startrec) self.stoprec = Button(text="Stop Record") self.add_widget(self.stoprec) self.play = Button(text="Play") self.add_widget(self.play) def Motor4Change(self, instance, value): self.motor4value.text = str(value) def Motor1Change(self, instance, value): self.motor1value.text = str(value) threading.Thread(target=self.movemotor1).start() def Motor2Change(self, instance, value): self.motor2value.text = str(value) threading.Thread(target=self.movemotor2).start() def Motor3Change(self, instance, value): self.motor3value.text = str(value) threading.Thread(target=self.movemotor3).start() def initiatemove(self,instance): # time.sleep(5) threading.Thread(target=self.movemotor4).start() threading.Thread(target=self.movemotor1).start() threading.Thread(target=self.movemotor2).start() threading.Thread(target=self.movemotor3).start() def movemotor4(self): print "movemotor4 called" global stage # print stage # print self.motor4.value # print self.motor1.value # print self.motor2.value # print self.motor3.value # movemotor4 = int(self.motor4.value) supercoords = [[movemotor4]] for coords in supercoords: stage.move(coords, 0) status = stage.xAxisNode.spinStatusRequest() while status['stepsRemaining'] > 0: time.sleep(0.001) status = stage.xAxisNode.spinStatusRequest() # ser = serial.Serial() # ser.braudrate = 115200 # ser.port = "/dev/tty.usbmodem1411" # ser.open() def movemotor1(self): print "movemotor1called" global serialcom, tempmotor1 movemotor1 = self.motor1.value - tempmotor1 tempmotor1 = self.motor1.value print movemotor1 # print movemotor2 # print movemotor3 if serialcom.isOpen(): print("serialcomial is open!") # serialcom.write('a\n') if movemotor1 > 0: for i in range(int(movemotor1)): print 'sending a' serialcom.write('a\n') # time.sleep(.5) # print serialcom.read() print serialcom.readline() else: for i in range(abs(int(movemotor1))): serialcom.write('d\n') # time.sleep(.5) # print serialcom.read() print serialcom.readline() # serialcom.close() def movemotor2(self): print "movemotor2called" global serialcom, tempmotor2 movemotor2 = self.motor2.value - tempmotor2 tempmotor2 = self.motor2.value print movemotor2 if serialcom.isOpen(): print("serialcomial is open!") # serialcom.write('a\n') if movemotor2 > 0: for i in range(int(movemotor2)): print 'sending b' serialcom.write('b\n') # time.sleep(.5) # print serialcom.read() print serialcom.readline() else: for i in range(abs(int(movemotor2))): serialcom.write('e\n') # time.sleep(.5) # print serialcom.read() print serialcom.readline() def movemotor3(self): print "movemotor3called" global serialcom, tempmotor3 movemotor3 = self.motor3.value - tempmotor3 tempmotor3 = self.motor3.value print movemotor3 if serialcom.isOpen(): print("serialcomial is open!") # serialcom.write('a\n') if movemotor3 > 0: for i in range(int(movemotor3)): print 'sending c' serialcom.write('c\n') # time.sleep(.5) # print serialcom.read() print serialcom.readline() else: for i in range(abs(int(movemotor3))): serialcom.write('f\n') # time.sleep(.5) # print serialcom.read() print serialcom.readline() class FabApp(App): def build(self): global stage stage = virtualMachine() # print dir(stage.xNode) #stage.xNode.loadProgram('../../../086-005/086-005a.hex') #stage.xNode.setMotorCurrent(1) stage.xNode.setVelocityRequest(8) return FabControl() if __name__ == '__main__': FabApp().run()