Python Path.set_axes方法代碼示例

# 需要導入模塊: from Path import Path [as 別名]
# 或者: from Path.Path import set_axes [as 別名]
    def __init__(self):
        """ Init """
        logging.info("Redeem initializing " + version)

        printer = Printer()
        self.printer = printer
        
        # check for config files
        if not os.path.exists("/etc/redeem/default.cfg"):
            logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
            sys.exit() # maybe use something more graceful?
            
        # Parse the config files.
        printer.config = CascadingConfigParser(
            ['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
             '/etc/redeem/local.cfg'])

        # Find out which capes are connected
        self.printer.config.parse_capes()
        self.revision = self.printer.config.replicape_revision
        if self.revision:
            logging.info("Found Replicape rev. " + self.revision)
            Path.set_axes(5)
        else:
            logging.warning("Oh no! No Replicape present!")
            self.revision = "0A4A"
            # We set it to 5 axis by default
            Path.set_axes(5)
        if self.printer.config.reach_revision:
            Path.set_axes(8)
            logging.info("Found Reach rev. "+self.printer.config.reach_revision)

        # Get the revision and loglevel from the Config file
        level = self.printer.config.getint('System', 'loglevel')
        if level > 0:
            logging.getLogger().setLevel(level)

        if self.revision in ["00A4", "0A4A", "00A3"]:
            PWM.set_frequency(100)
        elif self.revision in ["00B1"]:
            PWM.set_frequency(1000)

        # Init the Paths
        Path.axis_config = printer.config.getint('Geometry', 'axis_config')

        # Init the end stops
        EndStop.callback = self.end_stop_hit
        EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
        for es in ["X1", "X2", "Y1", "Y2", "Z1", "Z2"]:
            pin = self.printer.config.get("Endstops", "pin_"+es)
            keycode = self.printer.config.getint("Endstops", "keycode_"+es)
            invert = self.printer.config.getboolean("Endstops", "invert_"+es)
            self.printer.end_stops[es] = EndStop(pin, keycode, es, invert)

        # Backwards compatibility with A3
        if self.revision == "00A3":
            # Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
            printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X", 0, 0)
            printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y", 1, 1)
            printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 2, 2)
            printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E", 3, 3)
            printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H", 4, 4)
        elif self.revision == "00B1":
            # Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
            printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0)
            printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1)
            printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2)
            printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3)
            printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4)
        else:
            # Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
            printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X", 0, 0)
            printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y", 1, 1)
            printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z", 2, 2)
            printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E", 3, 3)
            printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H", 4, 4)

            if printer.config.reach_revision:
                printer.steppers["A"] = Stepper_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A", 5, 5)
                printer.steppers["B"] = Stepper_00A4("GPIO1_14", "GPIO0_5" , "GPIO0_14", 6, 6, "B", 6, 6)
                printer.steppers["C"] = Stepper_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C", 7, 7)


        # Enable the steppers and set the current, steps pr mm and
        # microstepping
        for name, stepper in self.printer.steppers.iteritems():
            stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
            stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
            stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
            stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
            stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
            stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
            stepper.set_decay(printer.config.getboolean("Steppers", "slow_decay_" + name))
            # Add soft end stops
            Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
            Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)

        # Commit changes for the Steppers
        #Stepper.commit()

#.........這裏部分代碼省略.........

# 需要導入模塊: from Path import Path [as 別名]
# 或者: from Path.Path import set_axes [as 別名]
    steppers["H"].set_steps_pr_mm(5.0)

    printer = Printer()

    printer.steppers = steppers

    # Parse the config
    printer.config = CascadingConfigParser(
        ['configs/default.cfg'])

    # Get the revision from the Config file
    printer.config.parse_capes()
    revision = printer.config.replicape_revision
    
    dirname = os.path.dirname(os.path.realpath(__file__))
    Path.set_axes(5)

    path_planner = PathPlanner(printer, None)

    speed = 3000 / 60000.0

    path_planner.add_path(AbsolutePath(
        {
            "X": 0.01
        }, speed))

    path_planner.add_path(AbsolutePath(
        {
            "X": 0.0
        }, speed))