drawing

axi/__init__.py

@@ -1,3 +1,5 @@
 from device import Device
 
+from drawing import Drawing
+
 from planner import Planner

axi/device.py

@@ -1,4 +1,5 @@
 from math import modf
+from planner import Planner
 from serial import Serial
 from serial.tools.list_ports import comports
 import time
@@ -6,6 +7,13 @@ import time
 STEPS_PER_INCH = 2032
 STEPS_PER_MM = 80
 
+PEN_UP_DELAY = 400
+PEN_DOWN_DELAY = 400
+
+ACCELERATION = 10
+MAX_VELOCITY = 5
+CORNER_FACTOR = 0.001
+
 VID_PID = '04D8:FD92'
 
 def find_port():
@@ -15,12 +23,21 @@ def find_port():
     return None
 
 class Device(object):
-    def __init__(self, steps_per_unit=STEPS_PER_INCH):
+    def __init__(self):
         port = find_port()
         if port is None:
             raise Exception('cannot find axidraw device')
         self.serial = Serial(port, timeout=1)
-        self.steps_per_unit = steps_per_unit
+        self.steps_per_unit = STEPS_PER_INCH
+        self.pen_up_delay = PEN_UP_DELAY
+        self.pen_down_delay = PEN_DOWN_DELAY
+        self.acceleration = ACCELERATION
+        self.max_velocity = MAX_VELOCITY
+        self.corner_factor = CORNER_FACTOR
+
+    def make_planner(self):
+        return Planner(
+            self.acceleration, self.max_velocity, self.corner_factor)
 
     def readline(self):
         return self.serial.readline().strip()
@@ -66,9 +83,25 @@ class Device(object):
             t += step_s
         self.wait()
 
-    # pen functions
-    def pen_up(self, delay=0):
-        return self.command('SP', 1, delay)
+    def run_path(self, path):
+        planner = self.make_planner()
+        plan = planner.plan(path)
+        self.run_plan(plan)
 
-    def pen_down(self, delay=0):
-        return self.command('SP', 0, delay)
+    def run_drawing(self, drawing):
+        self.pen_up()
+        position = (0, 0)
+        for path in drawing.paths:
+            self.run_path([position, path[0]])
+            self.pen_down()
+            self.run_path(path)
+            self.pen_up()
+            position = path[-1]
+        self.run_path([position, (0, 0)])
+
+    # pen functions
+    def pen_up(self):
+        return self.command('SP', 1, self.pen_up_delay)
+
+    def pen_down(self):
+        return self.command('SP', 0, self.pen_down_delay)

axi/drawing.py

@@ -0,0 +1,95 @@
+from math import sin, cos, radians
+
+class Drawing(object):
+    def __init__(self, paths=None):
+        self.paths = paths or []
+        self._bounds = None
+
+    @property
+    def bounds(self):
+        if not self._bounds:
+            points = [(x, y) for path in self.paths for x, y in path]
+            if points:
+                x1 = min(x for x, y in points)
+                x2 = max(x for x, y in points)
+                y1 = min(y for x, y in points)
+                y2 = max(y for x, y in points)
+            else:
+                x1 = x2 = y1 = y2 = 0
+            self._bounds = (x1, y1, x2, y2)
+        return self._bounds
+
+    @property
+    def width(self):
+        x1, y1, x2, y2 = self.bounds
+        return x2 - x1
+
+    @property
+    def height(self):
+        x1, y1, x2, y2 = self.bounds
+        return y2 - y1
+
+    # def sort_paths_greedy(self, reversable=True):
+    #     return Drawing(planner.sort_paths_greedy(self.paths, reversable))
+
+    # def join_paths(self, tolerance=0.05):
+    #     return Drawing(util.join_paths(self.paths, tolerance))
+
+    # def remove_duplicates(self):
+    #     return Drawing(util.remove_duplicates(self.paths))
+
+    # def simplify_paths(self, tolerance=0.05):
+    #     return Drawing(util.simplify_paths(self.paths, tolerance))
+
+    def transform(self, func):
+        return Drawing([[func(x, y) for x, y in path] for path in self.paths])
+
+    def translate(self, dx, dy):
+        def func(x, y):
+            return (x + dx, y + dy)
+        return self.transform(func)
+
+    def scale(self, sx, sy):
+        def func(x, y):
+            return (x * sx, y * sy)
+        return self.transform(func)
+
+    def rotate(self, angle):
+        c = cos(radians(angle))
+        s = sin(radians(angle))
+        def func(x, y):
+            return (x * c - y * s, y * c + x * s)
+        return self.transform(func)
+
+    def move(self, x, y, ax, ay):
+        x1, y1, x2, y2 = self.bounds
+        dx = x1 + (x2 - x1) * ax - x
+        dy = y1 + (y2 - y1) * ay - y
+        return self.translate(-dx, -dy)
+
+    def origin(self):
+        return self.move(0, 0, 0, 0)
+
+    def rotate_to_fit(self, width, height, step=5):
+        for angle in range(0, 180, step):
+            drawing = self.rotate(angle)
+            if drawing.width <= width and drawing.height <= height:
+                return drawing.origin()
+        return None
+
+    def scale_to_fit(self, width, height, padding=0):
+        width -= padding * 2
+        height -= padding * 2
+        scale = min(width / self.width, height / self.height)
+        return self.scale(scale, scale).origin()
+
+    def rotate_and_scale_to_fit(self, width, height, padding=0, step=5):
+        drawings = []
+        width -= padding * 2
+        height -= padding * 2
+        for angle in range(0, 180, step):
+            drawing = self.rotate(angle)
+            scale = min(width / drawing.width, height / drawing.height)
+            drawings.append((scale, drawing))
+        scale, drawing = max(drawings)
+        return drawing.scale(scale, scale).origin()

device_test.py

@@ -12,7 +12,7 @@ def circle(cx, cy, r, n):
     return points
 
 def main():
-    planner = Planner(acceleration=10, max_velocity=5, corner_factor=0.01)
+    planner = Planner(acceleration=10, max_velocity=5, corner_factor=0.001)
     path = []
     path.append((0, 0))
     for i in range(10):