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jog vs drawing accel / velocity

This commit is contained in:
Michael Fogleman 2018-02-20 21:04:33 -05:00
parent 0d0a2fa643
commit d4270b513f
1 changed files with 24 additions and 13 deletions
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37
axi/device.py
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@ -26,9 +26,12 @@ PEN_DOWN_POSITION = 45
PEN_DOWN_SPEED = 150
PEN_DOWN_DELAY = 0
ACCELERATION = 8
MAX_VELOCITY = 4
CORNER_FACTOR = 0.0025
ACCELERATION = 5
MAX_VELOCITY = 1
CORNER_FACTOR = 0.005
JOG_ACCELERATION = 8
JOG_MAX_VELOCITY = 6
VID_PID = '04D8:FD92'
@ -50,6 +53,8 @@ class Device(object):
self.acceleration = ACCELERATION
self.max_velocity = MAX_VELOCITY
self.corner_factor = CORNER_FACTOR
self.jog_acceleration = JOG_ACCELERATION
self.jog_max_velocity = JOG_MAX_VELOCITY
for k, v in kwargs.items():
setattr(self, k, v)
@ -79,9 +84,14 @@ class Device(object):
def close(self):
self.serial.close()
def make_planner(self):
return Planner(
self.acceleration, self.max_velocity, self.corner_factor)
def make_planner(self, jog=False):
a = self.acceleration
vmax = self.max_velocity
cf = self.corner_factor
if jog:
a = self.jog_acceleration
vmax = self.jog_max_velocity
return Planner(a, vmax, cf)
def readline(self):
return self.serial.readline().strip()
@ -95,12 +105,13 @@ class Device(object):
def move(self, dx, dy):
self.run_path([(0, 0), (dx, dy)])
def goto(self, x, y):
def goto(self, x, y, jog=False):
# TODO: jog if pen up
px, py = self.read_position()
self.run_path([(px, py), (x, y)])
self.run_path([(px, py), (x, y)], jog)
def home(self):
self.goto(0, 0)
self.goto(0, 0, True)
# misc commands
def version(self):
@ -153,8 +164,8 @@ class Device(object):
t += step_s
# self.wait()
def run_path(self, path):
planner = self.make_planner()
def run_path(self, path, jog=False):
planner = self.make_planner(jog)
plan = planner.plan(path)
self.run_plan(plan)
@ -163,14 +174,14 @@ class Device(object):
position = (0, 0)
bar = Bar(drawing.length, enabled=progress)
for path in drawing.paths:
self.run_path([position, path[0]])
self.run_path([position, path[0]], jog=True)
self.pen_down()
self.run_path(path)
self.pen_up()
position = path[-1]
bar.increment(path_length(path))
bar.done()
self.run_path([position, (0, 0)])
self.run_path([position, (0, 0)], jog=True)
def plan_drawing(self, drawing):
result = []