updates

axi/device.py

@@ -8,19 +8,25 @@ from serial.tools.list_ports import comports
 
 from .planner import Planner
 
-STEPS_PER_INCH = 2032
-STEPS_PER_MM = 80
+TIMESLICE_MS = 10
+
+MICROSTEPPING_MODE = 1
+STEP_DIVIDER = 2 ** (MICROSTEPPING_MODE - 1)
+
+STEPS_PER_INCH = 2032 / STEP_DIVIDER
+STEPS_PER_MM = 80 / STEP_DIVIDER
 
 PEN_UP_POSITION = 60
 PEN_UP_SPEED = 150
 PEN_UP_DELAY = 0
+
 PEN_DOWN_POSITION = 40
 PEN_DOWN_SPEED = 150
 PEN_DOWN_DELAY = 0
 
-ACCELERATION = 12
-MAX_VELOCITY = 6
-CORNER_FACTOR = 0.01
+ACCELERATION = 8
+MAX_VELOCITY = 8
+CORNER_FACTOR = 0.005
 
 VID_PID = '04D8:FD92'
 
@@ -88,7 +94,8 @@ class Device(object):
 
     # motor functions
     def enable_motors(self):
-        return self.command('EM', 1, 1)
+        m = MICROSTEPPING_MODE
+        return self.command('EM', m, m)
 
     def disable_motors(self):
         return self.command('EM', 0, 0)
@@ -104,7 +111,7 @@ class Device(object):
             time.sleep(0.01)
 
     def run_plan(self, plan):
-        step_ms = 10
+        step_ms = TIMESLICE_MS
         step_s = step_ms / 1000
         t = 0
         while t < plan.t:

examples/device_test.py

@@ -1,7 +1,8 @@
-from axi import Device, Planner
-from math import sin, cos, pi
+import axi
 import time
 
+from math import sin, cos, pi
+
 def circle(cx, cy, r, n):
     points = []
     for i in range(n + 1):
@@ -12,21 +13,14 @@ def circle(cx, cy, r, n):
     return points
 
 def main():
-    planner = Planner(acceleration=10, max_velocity=5, corner_factor=0.001)
+    # axi.reset(); return
     path = []
-    path.append((0, 0))
     for i in range(10):
-        path.extend(circle(4, 4, (i + 1) * 0.2, 72))
-    path.append((0, 0))
-    plan = planner.plan(path)
+        path.extend(circle(4, 4, (i + 1) * 0.2, 3600))
 
-    d = Device()
-    d.pen_up()
-    d.enable_motors()
-    time.sleep(0.2)
-    d.run_plan(plan)
-    d.wait()
-    d.disable_motors()
+    drawing = axi.Drawing([path]).simplify_paths(0.001)
+    # drawing.render().write_to_png('out.png')
+    axi.draw(drawing)
 
 if __name__ == '__main__':
     main()