kopia lustrzana https://github.com/adliechty/realWorldGcodeSender
z probing test...Minor updates
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b95f15e90e
commit
e1e6d2f353
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@ -308,6 +308,7 @@ class OverlayGcode:
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plt.subplots_adjust(bottom=0.01, right = 0.99)
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plt.axis([self.bedViewSizePixels,0, self.bedViewSizePixels, 0])
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plt.rcParams['keymap.back'].remove('c') # we use c for circle
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plt.rcParams['keymap.back'].remove('s') # we use s for send
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#Generate matplotlib plot from opencv image
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self.matPlotImage = plt.imshow(self.cv2Overhead)
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###############################################
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@ -693,9 +694,9 @@ def getBoxAngle(points):
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break
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print(angle * 180 / math.pi)
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# a square is square, so we will pick one of the 4 angles 0, + 90, +180, or +270
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if angle < 0:
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if angle < math.pi / 4:
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angle = angle + math.pi
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if angle >= math.pi / 2:
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if angle >= math.pi / 4:
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angle = angle - math.pi / 2
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return angle
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@ -967,8 +968,8 @@ class GCodeSender:
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# we want work coord system to be center of knotch of touch plate, not center of touch plate itself. Move there then make that zero.
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self.work_offset_move(x = math.cos(angle - math.pi/4.0) * self.distToKnotch, y = math.sin(angle - math.pi/4.0) * self.distToKnotch, feed = 400)
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self.set_work_coord_offset(x = 0, y = 0)
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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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return [refPoint[0] - math.cos(angle) * (plateWidth * 0.5 + bitRadius) + math.cos(angle - math.pi/4.0) * self.distToKnotch, \
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refPoint[1] - math.sin(angle) * (plateWidth * 0.5 + bitRadius) + math.sin(angle - math.pi/4.0) * self.distToKnotch]
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def probeAngleOfTouchPlate(self, estPlateAngle, x, y):
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@ -1047,7 +1048,8 @@ 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 = 180) # Move close to Z limit
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self.absolute_move(avgX, avgY, None, feed = 200) # Move above estimated ref plate
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# move 1.75" away from charuco marker bottom left
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self.absolute_move(avgX + 1.335*math.cos(math.pi*5/4), avgY + 1.335*math.sin(math.pi*5/4), None, feed = 200) # 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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@ -1198,7 +1200,7 @@ cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 800)
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# Capture frame-by-frame
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#ret, frame = cap.read()
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file = 'cnc8.jpg'
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file = 'cnc12.jpg'
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frame = cv2.imread(file)
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img = cv2.imread(file)
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