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pen delay computed

This commit is contained in:
Michael Fogleman 2017-01-13 21:41:51 -05:00
parent 66ab72311a
commit 49ca131ad3
1 changed files with 13 additions and 7 deletions
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20
axi/device.py
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@ -13,13 +13,13 @@ STEPS_PER_MM = 80
PEN_UP_POSITION = 60
PEN_UP_SPEED = 150
PEN_UP_DELAY = 100
PEN_UP_DELAY = 0
PEN_DOWN_POSITION = 40
PEN_DOWN_SPEED = 150
PEN_DOWN_DELAY = 100
PEN_DOWN_DELAY = 0
ACCELERATION = 8
MAX_VELOCITY = 8
ACCELERATION = 12
MAX_VELOCITY = 6
CORNER_FACTOR = 0.01
VID_PID = '04D8:FD92'
@ -101,7 +101,7 @@ class Device(object):
def wait(self):
while '1' in self.motor_status():
time.sleep(0.1)
time.sleep(0.01)
def run_plan(self, plan):
step_ms = 10
@ -139,7 +139,13 @@ class Device(object):
# pen functions
def pen_up(self):
return self.command('SP', 1, self.pen_up_delay)
delta = abs(self.pen_up_position - self.pen_down_position)
duration = int(1000 * delta / self.pen_up_speed)
delay = max(0, duration + self.pen_up_delay)
return self.command('SP', 1, delay)
def pen_down(self):
return self.command('SP', 0, self.pen_down_delay)
delta = abs(self.pen_up_position - self.pen_down_position)
duration = int(1000 * delta / self.pen_down_speed)
delay = max(0, duration + self.pen_down_delay)
return self.command('SP', 0, delay)