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realWorldGcodeSender
kopia lustrzana https://github.com/adliechty/realWorldGcodeSender
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making probe readback work

main
unknown 2022-02-24 19:59:45 -06:00
rodzic 7657073cff
commit 1b4b5eb433
1 zmienionych plików z 15 dodań i 13 usunięć
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realWorldGcodeSender.py
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@ -818,7 +818,12 @@ class GCodeSender:
def probe(self, x = None, y = None, z = None, feed = 5.9):
xStr, yStr, zStr = self._get_xyz_string(x, y, z)
self.gerbil.send_immediately("G38.2 " + xStr + yStr + zStr + " F" + str(feed) + "\n")
M114Resp = self.waitOnGCodeComplete("PRB")
PrbResp = self.waitOnGCodeComplete("PRB")
# Example output: '[PRB:-0.1965,-0.1965,-2.0697:1]'
tmp = PrbResp.split("PRB:")[1]
tmp = tmp.split(":1")[0]
numbers = tmp.split(",")
return [float(x) for x in a]
def probeZSequence(self):
#Move down medium speed to reference plate
@ -836,6 +841,7 @@ class GCodeSender:
self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
def probeXYSequence(self, plateAngle):
# Firxt xAxis then yAxis
for axisAngle in [0, math.pi / 2.0]:
angle = axisAngle + plateAngle
@ -873,36 +879,35 @@ class GCodeSender:
self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
# Move to side of touch plate and down a quarter of the plate width
# this routine does not adjust work offset, so need to always be conservative
#Probe down a quarter of touch plate first
#once medium speed, once slow speed
for feed, dist in zip([5.9, 1.5], [firstSafeDist, secSafeDist]):
for feed, dist in zip([5.9, 1.5], [firstSafeDist, firstSafeDist]):
self.work_offset_move(x = math.cos(angle) * dist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * dist + math.sin(angle - math.pi/2.0), feed=100)
# Move below touch plate
self.work_offset_move(z = -0.1, feed=100)
# Probe to the touch plate
self.probe(x = math.cos(angle) * probeToDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0), feed=feed)
ref1X, ref1Y = self.get_cur_work_offset()
ref1 = self.probe(x = math.cos(angle) * probeToDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0), feed=feed)
#Probe up a quarter of touch plate second
#once medium speed, once slow speed
for feed, dist in zip([5.9, 1.5], [firstSafeDist, secSafeDist]):
for feed, dist in zip([5.9, 1.5], [firstSafeDist, firstSafeDist]):
self.work_offset_move(x = math.cos(angle) * dist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * dist + math.sin(angle - math.pi/2.0), feed=100)
# Move below touch plate
self.work_offset_move(z = -0.1, feed=100)
# Probe to the touch plate
self.probe(x = math.cos(angle) * probeToDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0), feed=feed)
ref2X, ref2Y = self.get_cur_work_offset()
ref2 = self.probe(x = math.cos(angle) * probeToDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * probeToDist + math.sin(angle - math.pi/2.0), feed=feed)
# Move away from reference plate and up
self.work_offset_move(x = math.cos(angle) * firstSafeDist + math.cos(angle - math.pi/2.0) * plateWidth * 0.25 , \
y = math.sin(angle) * firstSafeDist + math.sin(angle - math.pi/2.0), feed=100)
self.work_offset_move(z = 0.5, feed=100) # Move just above reference plate, clearing lip on reference plate
yAxisAngle = math.atan2(ref2Y - ref1Y, ref2X - ref1X)
yAxisAngle = math.atan2(ref2[1] - ref1[1], ref2[0] - ref1[0])
xAxisAngle = yAxisAngle - math.pi / 2.0 % (2 * math.pi)
return xAxisAngle
@ -926,11 +931,8 @@ class GCodeSender:
self.flushGcodeRespQue()
self.set_inches()
self.absolute_move(None, None, -0.25, feed = 50) # Move close to Z limit
self.waitOnGCodeComplete("G53")
#Rapid traverse to above reference plate
print("avgXY: " + str(avgX) + " " + str(avgY))
#self.absolute_move(x=avgX, y=avgY)
self.probeSequence(0)
def waitOnGCodeComplete(self, gCode):