From cacd430c7ddc655d5be07a63c9180b57fb8e08d6 Mon Sep 17 00:00:00 2001
From: Michael Fogleman <fogleman@gmail.com>
Date: Sat, 1 Apr 2017 21:27:44 -0400
Subject: [PATCH] updates

---
 axi/config.py  |  0
 axi/device.py  | 19 ++++++++++++-------
 axi/drawing.py | 15 +++++++++++++--
 axi/planner.py |  3 +++
 4 files changed, 28 insertions(+), 9 deletions(-)
 create mode 100644 axi/config.py

diff --git a/axi/config.py b/axi/config.py
new file mode 100644
index 0000000..e69de29
diff --git a/axi/device.py b/axi/device.py
index 5540f34..9b9d89b 100644
--- a/axi/device.py
+++ b/axi/device.py
@@ -20,13 +20,13 @@ PEN_UP_POSITION = 60
 PEN_UP_SPEED = 150
 PEN_UP_DELAY = 0
 
-PEN_DOWN_POSITION = 40
+PEN_DOWN_POSITION = 50
 PEN_DOWN_SPEED = 150
 PEN_DOWN_DELAY = 0
 
-ACCELERATION = 4
-MAX_VELOCITY = 2
-CORNER_FACTOR = 0.001
+ACCELERATION = 8
+MAX_VELOCITY = 4
+CORNER_FACTOR = 0.005
 
 VID_PID = '04D8:FD92'
 
@@ -157,18 +157,23 @@ class Device(object):
         self.run_plan(plan)
 
     def run_drawing(self, drawing):
-        planner = self.make_planner()
         self.pen_up()
         position = (0, 0)
         for path in drawing.paths:
             self.run_path([position, path[0]])
-            plan = planner.plan(path)
             self.pen_down()
-            self.run_plan(plan)
+            self.run_path(path)
             self.pen_up()
             position = path[-1]
         self.run_path([position, (0, 0)])
 
+    def plan_drawing(self, drawing):
+        result = []
+        planner = self.make_planner()
+        for path in drawing.all_paths:
+            result.append(planner.plan(path))
+        return result
+
     # pen functions
     def pen_up(self):
         delta = abs(self.pen_up_position - self.pen_down_position)
diff --git a/axi/drawing.py b/axi/drawing.py
index a01bd82..37ce1ec 100644
--- a/axi/drawing.py
+++ b/axi/drawing.py
@@ -38,6 +38,17 @@ class Drawing(object):
         x1, y1, x2, y2 = self.bounds
         return y2 - y1
 
+    @property
+    def all_paths(self):
+        result = []
+        position = (0, 0)
+        for path in self.paths:
+            result.append([position, path[0]])
+            result.append(path)
+            position = path[-1]
+        result.append([position, (0, 0)])
+        return result
+
     def simplify_paths(self, tolerance):
         return Drawing(simplify_paths(self.paths, tolerance))
 
@@ -50,8 +61,8 @@ class Drawing(object):
     # def remove_duplicates(self):
     #     return Drawing(util.remove_duplicates(self.paths))
 
-    def add(self, other):
-        self.paths.extend(other.paths)
+    def add(self, drawing):
+        self.paths.extend(drawing.paths)
         self._bounds = None
 
     def transform(self, func):
diff --git a/axi/planner.py b/axi/planner.py
index 51245c9..62a712b 100644
--- a/axi/planner.py
+++ b/axi/planner.py
@@ -15,6 +15,9 @@ class Planner(object):
         return constant_acceleration_plan(
             points, self.acceleration, self.max_velocity, self.corner_factor)
 
+    def plan_all(self, paths):
+        return [self.plan(path) for path in paths]
+
 # a plan is a motion profile generated by the planner
 class Plan(object):
     def __init__(self, blocks):