Python Encoder.encode_axes方法代码示例

# 需要导入模块: import Encoder [as 别名]
# 或者: from Encoder import encode_axes [as 别名]
  def queue_point_new_ext(self, position, dda_rate, relative_axes, distance, feedrate):
    """
    Queue a position with the new style!  Moves to a certain position over a given duration
    with either relative or absolute positioning.  Relative vs. Absolute positioning
    is done on an axis to axis basis.

    @param list position: A 5 dimentional position in steps specifying where each axis should move to
    @param int dda_rate: Steps per second along the master axis
    @param list relative_axes: Array of axes whose coordinates should be considered relative
    @param float distance: distance in millimeters moved in (x,y,z) space OR if distance(x,y,z) == 0, then max(distance(A),distance(B))
    @param float feedrate: the actual feedrate in units of millimeters/second
    """
    if len(position) != self.extendedPointLength:
      raise PointLengthError(len(position))

    payload = struct.pack(
      '<BiiiiiIBfh',
      host_action_command_dict['QUEUE_POINT_NEW_EXT'],
      position[0], position[1], position[2], position[3], position[4],
      dda_rate,
      Encoder.encode_axes(relative_axes),
      float(distance),
      int(float(feedrate)*64.0)
    )

    self.writer.send_action_payload(payload)

# 需要导入模块: import Encoder [as 别名]
# 或者: from Encoder import encode_axes [as 别名]
  def recall_home_positions(self, axes):
    """
    Recall and move to the home positions written to the EEPROM
    @param axes: Array of axis names ['x', 'y', ...] whose position should be saved
    """
    payload = struct.pack(
      '<BB',
      host_action_command_dict['RECALL_HOME_POSITIONS'], 
      Encoder.encode_axes(axes)
    )

    self.writer.send_action_payload(payload)

# 需要导入模块: import Encoder [as 别名]
# 或者: from Encoder import encode_axes [as 别名]
  def store_home_positions(self, axes):
    """
    Write the current axes locations to the EEPROM as the home position
    @param list axes: Array of axis names ['x', 'y', ...] whose position should be saved
    """
    payload = struct.pack(
      '<BB',
      host_action_command_dict['STORE_HOME_POSITIONS'], 
      Encoder.encode_axes(axes)
    )

    self.writer.send_action_payload(payload)

# 需要导入模块: import Encoder [as 别名]
# 或者: from Encoder import encode_axes [as 别名]
  def find_axes_maximums(self, axes, rate, timeout):
    """
    Move the toolhead in the positive direction, along the specified axes,
    until an endstop is reached or a timeout occurs.
    @param list axes: Array of axis names ['x', 'y', ...] to move
    @param double rate: Movement rate, in steps/??
    @param double timeout: Amount of time to move in seconds before halting the command
    """
    payload = struct.pack(
      '<BBIH',
      host_action_command_dict['FIND_AXES_MAXIMUMS'],
      Encoder.encode_axes(axes),
      rate,
      timeout
    )

    self.writer.send_action_payload(payload)

# 需要导入模块: import Encoder [as 别名]
# 或者: from Encoder import encode_axes [as 别名]
  def toggle_axes(self, axes, enable):
    """
    Used to explicitly power steppers on or off.
    @param list axes: Array of axis names ['x', 'y', ...] to configure
    @param boolean enable: If true, enable all selected axes. Otherwise, disable the selected
           axes.
    """
    axes_bitfield = Encoder.encode_axes(axes)
    if enable:
      axes_bitfield |= 0x80

    payload = struct.pack(
      '<BB',
      host_action_command_dict['ENABLE_AXES'], 
      axes_bitfield
    )

    self.writer.send_action_payload(payload)

# 需要导入模块: import Encoder [as 别名]
# 或者: from Encoder import encode_axes [as 别名]
  def queue_extended_point_new(self, position, duration, relative_axes):
    """
    Queue a position with the new style!  Moves to a certain position over a given duration
    with either relative or absolute positioning.  Relative vs. Absolute positioning
    is done on an axis to axis basis.

    @param list position: A 5 dimentional position in steps specifying where each axis should move to
    @param int duration: The total duration of the move in miliseconds
    @param list relative_axes: Array of axes whose coordinates should be considered relative
    """
    if len(position) != self.extendedPointLength:
      raise PointLengthError(len(position))

    payload = struct.pack(
      '<BiiiiiIB',
      host_action_command_dict['QUEUE_EXTENDED_POINT_NEW'],
      position[0], position[1], position[2], position[3], position[4],
      duration, 
      Encoder.encode_axes(relative_axes)
    )

    self.writer.send_action_payload(payload)