kopia lustrzana https://github.com/adliechty/realWorldGcodeSender
probing of touch plate works, make quicker next
unknown
rodzic
637b9a9777
commit
7d1556e02e
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@ -526,6 +526,9 @@ class OverlayGcode:
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self.drawnPoints.pop()
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def _mouse_pos_inches(self):
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print(self.mouseX)
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print(self.bedViewSizePixels)
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print(self.bedSize.X)
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x = self.mouseX / self.bedViewSizePixels * self.bedSize.X
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y = self.mouseY / self.bedViewSizePixels * self.bedSize.Y
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# Make reference plate measured center location in image be exact measured location
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@ -822,21 +825,28 @@ class GCodeSender:
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self.gCodeFile = gCodeFile
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self.set_inches()
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self.plateHeight = 0.472441
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self.plateWidth = 2.75591
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self.bitRadius = 0.125
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def gerbil_callback(self, eventstring, *data):
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args = []
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if eventstring != "on_read":
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return
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print()
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print()
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print("GERBIL CALLBACK: " + eventstring)
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for d in data:
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args.append(str(d))
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print("GERBIL CALLBACK: event={} data={}".format(eventstring.ljust(30), ", ".join(args)))
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print(d)
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print("args event={} data={}".format(eventstring.ljust(30), ", ".join(args)))
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self.curData = data
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self.curEvent = eventstring
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self.dataList.append(data)
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self.eventList.append(eventstring)
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print(eventstring)
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print(data)
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#indicate callback is done
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self.event.set()
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@ -861,61 +871,69 @@ class GCodeSender:
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self.gerbil.send_immediately("G38.2 " + xStr + yStr + zStr + " F" + str(feed) + "\n")
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PrbResp = self.waitOnGCodeComplete("PRB")
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# Example output: '[PRB:-0.1965,-0.1965,-2.0697:1]'
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print("PrbResp: " + str(PrbResp))
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tmp = PrbResp.split("PRB:")[1]
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tmp = tmp.split(":1")[0]
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numbers = tmp.split(",")
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return [float(x) for x in a]
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print("Numbers: " + str(numbers))
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return [float(x) for x in numbers]
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def probeZSequence(self):
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plateHeight = self.plateHeight
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#Move down medium speed to reference plate
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print("***************************************4")
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print("***************************************5")
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self.probe(z = -2.75, feed = 5.9) # move down by 2.75" until probe hit
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print("***************************************6")
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self.set_work_coord_offset(z = 0) # Set actual 0 to probed location
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self.set_work_coord_offset(z = plateHeight) # Set actual 0 to probed location
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print("***************************************7")
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#Move up, then slowly to reference plate
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self.work_offset_move(z = 0.25, feed=100) # Move just above reference plate
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xyz = self.probe(z = -0.1, feed = 1.5)
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self.set_work_coord_offset(z = 0) # Set actual 0 to probed location
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self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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self.work_offset_move(z = plateHeight + 0.25, feed=100) # Move just above reference plate
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xyz = self.probe(z = plateHeight-0.1, feed = 1.5)
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self.set_work_coord_offset(z = plateHeight) # Set actual 0 to probed location
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self.work_offset_move(z = plateHeight + 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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# return z height of the probe
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return xyz[2]
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return xyz[2] - plateHeight
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def probeXYSequence(self, plateAngle):
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bitRadius = self.bitRadius
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# Firxt xAxis then yAxis
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for axisAngle in [0, math.pi / 2.0]:
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angle = axisAngle + plateAngle
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plateWidth = 2.0 # total width of touch plate...half of this is distance to center of touch plate
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plateHeight = self.plateHeight
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plateWidth = self.plateWidth # total width of touch plate...half of this is distance to center of touch plate
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firstSafeDist = plateWidth * 0.75
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secSafeDist = plateWidth * 0.625 # can get a little closer second time as we already sensed edge of plate once
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probeToDist = plateWidth * 0.25
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# Move up
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self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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self.work_offset_move(z = plateHeight + 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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#once medium speed, once slow speed
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for feed, dist in zip([5.9, 1.5], [firstSafeDist, secSafeDist]):
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# Move to side of touch plate
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self.work_offset_move(x = math.cos(angle) * dist, y = math.sin(angle) * dist, feed=100)
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# Move below touch plate
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self.work_offset_move(z = -0.1, feed=100)
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self.work_offset_move(z = plateHeight-0.1, feed=100)
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# Probe to the touch plate
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refPoint = self.probe(x = math.cos(angle) * probeToDist, y = math.sin(angle) * probeToDist, feed=5.9)
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# set this as new side of touch plate
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self.set_work_coord_offset(x = math.cos(angle) * plateWidth * 0.5 , y = math.sin(angle) * plateWidth * 0.5)
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self.set_work_coord_offset(x = math.cos(angle) * (plateWidth * 0.5 + bitRadius) , \
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y = math.sin(angle) * (plateWidth * 0.5 + bitRadius))
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# Move away from plate and up, then to center of touchplate
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self.work_offset_move(x = math.cos(angle) * secSafeDist, y = math.sin(angle) * secSafeDist, feed = 100)
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self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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self.work_offset_move(z = plateHeight + 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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self.work_offset_move(x = 0.0, y = 0.0)
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return self.get_absolute_pos()[0:1]
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return [refPoint[0] - math.cos(angle) * (plateWidth * 0.5 + bitRadius), \
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refPoint[1] - math.sin(angle) * (plateWidth * 0.5 + bitRadius)]
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def probeAngleOfTouchPlate(self, estPlateAngle):
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plateWidth = 2.0 # total width of touch plate...half of this is distance to center of touch plate
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plateHeight = self.plateHeight
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plateWidth = self.plateWidth # total width of touch plate...half of this is distance to center of touch plate
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firstSafeDist = plateWidth * 0.75
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secSafeDist = plateWidth * 0.625 # can get a little closer second time as we already sensed edge of plate once
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probeToDist = plateWidth * 0.25
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@ -923,7 +941,7 @@ class GCodeSender:
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angle = estPlateAngle
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# Move up
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self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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self.work_offset_move(z = plateHeight + 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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# Move to side of touch plate and down a quarter of the plate width
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# this routine does not adjust work offset, so need to always be conservative
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@ -931,31 +949,33 @@ class GCodeSender:
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#once medium speed, once slow speed
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for feed, dist in zip([5.9, 1.5], [firstSafeDist, firstSafeDist]):
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self.work_offset_move(x = math.cos(angle) * dist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * dist + math.sin(angle - math.pi/2.0), feed=100)
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y = math.sin(angle) * dist + math.sin(angle - math.pi/2.0) * plateWidth * 0.25, feed=100)
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# Move below touch plate
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self.work_offset_move(z = -0.1, feed=100)
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self.work_offset_move(z = plateHeight-0.1, feed=100)
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# Probe to the touch plate
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ref1 = self.probe(x = math.cos(angle) * probeToDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0), feed=feed)
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y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0) * plateWidth * 0.25, feed=feed)
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#Probe up a quarter of touch plate second
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#once medium speed, once slow speed
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for feed, dist in zip([5.9, 1.5], [firstSafeDist, firstSafeDist]):
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self.work_offset_move(x = math.cos(angle) * dist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * dist + math.sin(angle - math.pi/2.0), feed=100)
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self.work_offset_move(x = math.cos(angle) * dist + math.cos(angle + math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * dist + math.sin(angle + math.pi/2.0) * plateWidth * 0.25, feed=100)
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# Move below touch plate
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self.work_offset_move(z = -0.1, feed=100)
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self.work_offset_move(z = plateHeight - 0.1, feed=100)
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# Probe to the touch plate
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ref2 = self.probe(x = math.cos(angle) * probeToDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0), feed=feed)
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ref2 = self.probe(x = math.cos(angle) * probeToDist + math.cos(angle + math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * probeToDist + math.sin(angle + math.pi/2.0) * plateWidth * 0.25, feed=feed)
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# Move away from reference plate and up
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self.work_offset_move(x = math.cos(angle) * firstSafeDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * firstSafeDist + math.sin(angle - math.pi/2.0), feed=100)
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self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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self.work_offset_move(x = math.cos(angle) * firstSafeDist + math.cos(angle + math.pi/2.0) * plateWidth * 0.25 , \
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y = math.sin(angle) * firstSafeDist + math.sin(angle + math.pi/2.0) * plateWidth * 0.25, feed=100)
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self.work_offset_move(z = plateHeight + 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
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yAxisAngle = math.atan2(ref2[1] - ref1[1], ref2[0] - ref1[0])
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xAxisAngle = yAxisAngle - math.pi / 2.0 % (2 * math.pi)
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print("estPlateAngle:" + str(estPlateAngle))
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print("xAxisAngle: " + str(xAxisAngle))
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return xAxisAngle
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def probeSequence(self, estPlateAngle):
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@ -968,6 +988,7 @@ class GCodeSender:
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z = self.probeZSequence()
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plateAngle = self.probeAngleOfTouchPlate(estPlateAngle)
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xy = self.probeXYSequence(plateAngle)
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print("xy: " + str(xy))
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return xy.append(z)
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@ -982,11 +1003,12 @@ class GCodeSender:
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self.flushGcodeRespQue()
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self.set_inches()
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self.absolute_move(None, None, -0.25, feed = 50) # Move close to Z limit
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self.absolute_move(avgX, avgY, None, feed = 50) # Move above estimated ref plate
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print("avgXY: " + str(avgX) + " " + str(avgY))
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#first test out zero angle, then test out actual angle
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return self.probeSequence(0)
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#self.probeSequence(angle)
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#return self.probeSequence(0)
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return self.probeSequence(angle)
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def waitOnGCodeComplete(self, gCode):
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resp = None
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@ -1001,9 +1023,13 @@ class GCodeSender:
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#Remove item from list
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self.dataList.pop(0)
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self.eventList.pop(0)
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time.sleep(1)
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print("Found")
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return resp
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#time.sleep(1)
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print("resp: " + str(resp))
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print("Found: " + str(resp[0]))
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if isinstance(resp[0], dict):
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return resp[0][gCode]
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else:
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return resp[0]
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def flushGcodeRespQue(self):
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self.dataList = []
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