From d757bb5982989643fc0695c84e68b58a5aee976b Mon Sep 17 00:00:00 2001
From: Neil Gershenfeld <gersh@cba.mit.edu>
Date: Sat, 28 Aug 2021 14:23:27 -0400
Subject: [PATCH] wip
---
Urumbot/Urumbot.py | 704 +++++++++++++++++++++++----------------------
1 file changed, 361 insertions(+), 343 deletions(-)
diff --git a/Urumbot/Urumbot.py b/Urumbot/Urumbot.py
index 44a7689..aec2966 100644
--- a/Urumbot/Urumbot.py
+++ b/Urumbot/Urumbot.py
@@ -16,6 +16,9 @@ import tkinter.filedialog
from math import *
import serial,os,time,multiprocessing,sys
#
+# Ubot class
+#
+#
# global variables
#
forward = b'f'
@@ -27,18 +30,16 @@ xmin = ymin = 0
port0 = port1 = portz = 0
tpwm = 20000 # us (50 Hz)
workers = []
+
+#
#
-# shared memory variables
#
-Servo = multiprocessing.Value('H',0,lock=False) # unsigned short
-Count0 = multiprocessing.Value('i',0,lock=False) # signed int
-Count1 = multiprocessing.Value('i',0,lock=False) # signed int
-Step0 = multiprocessing.Value('f',0,lock=False) # float
-Step1 = multiprocessing.Value('f',0,lock=False) # float
+def StartProcess():
+ print('hello')
#
# open ports and start event loop
#
-def Connect():
+def ConnectPort():
global port0,port1,portz
#
try:
@@ -59,12 +60,6 @@ def Connect():
except:
print('can not open '+PortZVar.get())
#
- try:
- EventProcess = multiprocessing.Process(target=EventLoop)
- EventProcess.start()
- workers.append(EventProcess)
- except:
- print('can not start event loop')
#
# event loop
#
@@ -104,341 +99,364 @@ def EventLoop():
port1.write(reverse)
Count1.value += 1
#
-# UI routines
-#
-#
-def Quit():
- for w in workers:
- w.terminate()
- root.destroy()
- sys.exit()
-#
-def Jog0CW():
- Step0.value = int(float(StepTimeVar.get())*1000000)
- Step1.value = 0
- Count0.value = int(JogStepsVar.get())
- Count1.value = 0
-#
-def Jog0CCW():
- Step0.value = int(float(StepTimeVar.get())*1000000)
- Step1.value = 0
- Count0.value = -int(JogStepsVar.get())
- Count1.value = 0
-#
-def Jog1CW():
- Step0.value = 0
- Step1.value = int(float(StepTimeVar.get())*1000000)
- Count0.value = 0
- Count1.value = int(JogStepsVar.get())
-#
-def Jog1CCW():
- Step0.value = 0
- Step1.value = int(float(StepTimeVar.get())*1000000)
- Count0.value = 0
- Count1.value = -int(JogStepsVar.get())
-#
-def PolarToCartesian(r0,r1):
- x0 = float(X0Var.get())
- y0 = float(Y0Var.get())
- x1 = float(X1Var.get())
- y1 = float(Y1Var.get())
- d = sqrt((x1-x0)*(x1-x0)+(y1-y0)*(y1-y0))
- x = (d*d+r0*r0-r1*r1)/(2*d)
- y = sqrt(r0*r0-x*x)
- return (x,y)
+# main process
#
-def CartesianToPolar(x,y):
- x0 = float(X0Var.get())
- y0 = float(Y0Var.get())
- x1 = float(X1Var.get())
- y1 = float(Y1Var.get())
- r0 = sqrt((x-x0)*(x-x0)+(y-y0)*(y-y0))
- r1 = sqrt((x-x1)*(x-x1)+(y-y1)*(y-y1))
- return (r0,r1)
-#
-def JogAngle():
- r0 = float(R0Var.get())
- r1 = float(R1Var.get())
- x,y = PolarToCartesian(r0,r1)
- theta = float(JogAngleVar.get())*pi/180
- r = int(JogStepsVar.get())*float(StepSizeVar.get())
- xnew = x+r*cos(theta)
- ynew = y+r*sin(theta)
- MoveTo(xnew,ynew)
-#
-def UpdatePWM():
- Servo.value = int(PWMVar.get())
-#
-def PenUp():
- Servo.value = int(PWMaxVar.get())
- time.sleep(float(ServoDelayVar.get()))
-#
-def PenDown():
- Servo.value = int(PWMinVar.get())
- time.sleep(float(ServoDelayVar.get()))
-#
-def LoadFile():
- global points,xmin,ymin,plotscale
- filename = tkinter.filedialog.askopenfile()
- file = open(filename.name,'r')
- xmin = ymin = 1e10
- xmax = ymax = -1e10
- digits = ['-','0','1','2','3','4','5','6','7','8','9']
- arg = ''
- num = ''
- cmd = ''
- mode = ''
- point = 0
- points = []
- x = y = 0
- Plot.create_rectangle(0,0,plotsize,plotsize,outline='',fill='white')
- while 1:
- chr = file.read(1)
- if not chr:
- break
- if ((chr == 'n') or (chr == '\r') or (chr == '\n')):
- continue
- elif (chr == ';'):
- if (num != ''):
- if (mode == 'PR'):
- if (point == 0):
- x += float(num)/40.0
- points[-1].append(x)
- else:
- y += float(num)/40.0
- points[-1].append(y)
- point = 1-point
- else:
- points[-1].append(float(num)/40.0)
- num = ''
- arg = ''
- cmd = ''
- elif (chr == ','):
- if (num != ''):
- if (mode == 'PR'):
- if (point == 0):
- x += float(num)/40.0
- points[-1].append(x)
+if __name__ == '__main__':
+ #
+ #
+ #
+ class VarsClass:
+ #
+ # shared memory variables
+ #
+ Servo = multiprocessing.Value('H',0,lock=False) # unsigned short
+ Count0 = multiprocessing.Value('i',0,lock=False) # signed int
+ Count1 = multiprocessing.Value('i',0,lock=False) # signed int
+ Step0 = multiprocessing.Value('f',0,lock=False) # float
+ Step1 = multiprocessing.Value('f',0,lock=False) # float
+ vars = VarsClass()
+ #
+ # UI routines
+ #
+ def Quit():
+ vars.process.terminate()
+ root.destroy()
+ sys.exit()
+ #
+ def Connect():
+ try:
+ EventProcess = multiprocessing.Process(target=StartProcess)
+ EventProcess.start()
+ vars.process = EventProcess
+ except:
+ print('can not start event loop')
+ #
+ def Jog0CW():
+ Step0.value = int(float(StepTimeVar.get())*1000000)
+ Step1.value = 0
+ Count0.value = int(JogStepsVar.get())
+ Count1.value = 0
+ #
+ def Jog0CCW():
+ Step0.value = int(float(StepTimeVar.get())*1000000)
+ Step1.value = 0
+ Count0.value = -int(JogStepsVar.get())
+ Count1.value = 0
+ #
+ def Jog1CW():
+ Step0.value = 0
+ Step1.value = int(float(StepTimeVar.get())*1000000)
+ Count0.value = 0
+ Count1.value = int(JogStepsVar.get())
+ #
+ def Jog1CCW():
+ Step0.value = 0
+ Step1.value = int(float(StepTimeVar.get())*1000000)
+ Count0.value = 0
+ Count1.value = -int(JogStepsVar.get())
+ #
+ def PolarToCartesian(r0,r1):
+ x0 = float(X0Var.get())
+ y0 = float(Y0Var.get())
+ x1 = float(X1Var.get())
+ y1 = float(Y1Var.get())
+ d = sqrt((x1-x0)*(x1-x0)+(y1-y0)*(y1-y0))
+ x = (d*d+r0*r0-r1*r1)/(2*d)
+ y = sqrt(r0*r0-x*x)
+ return (x,y)
+ #
+ def CartesianToPolar(x,y):
+ x0 = float(X0Var.get())
+ y0 = float(Y0Var.get())
+ x1 = float(X1Var.get())
+ y1 = float(Y1Var.get())
+ r0 = sqrt((x-x0)*(x-x0)+(y-y0)*(y-y0))
+ r1 = sqrt((x-x1)*(x-x1)+(y-y1)*(y-y1))
+ return (r0,r1)
+ #
+ def JogAngle():
+ r0 = float(R0Var.get())
+ r1 = float(R1Var.get())
+ x,y = PolarToCartesian(r0,r1)
+ theta = float(JogAngleVar.get())*pi/180
+ r = int(JogStepsVar.get())*float(StepSizeVar.get())
+ xnew = x+r*cos(theta)
+ ynew = y+r*sin(theta)
+ MoveTo(xnew,ynew)
+ #
+ def UpdatePWM():
+ vars.Servo.value = int(PWMVar.get())
+ #
+ def PenUp():
+ vars.Servo.value = int(PWMaxVar.get())
+ time.sleep(float(ServoDelayVar.get()))
+ #
+ def PenDown():
+ vars.Servo.value = int(PWMinVar.get())
+ time.sleep(float(ServoDelayVar.get()))
+ #
+ def LoadFile():
+ global points,xmin,ymin,plotscale
+ filename = tkinter.filedialog.askopenfile()
+ file = open(filename.name,'r')
+ xmin = ymin = 1e10
+ xmax = ymax = -1e10
+ digits = ['-','0','1','2','3','4','5','6','7','8','9']
+ arg = ''
+ num = ''
+ cmd = ''
+ mode = ''
+ point = 0
+ points = []
+ x = y = 0
+ Plot.create_rectangle(0,0,plotsize,plotsize,outline='',fill='white')
+ while 1:
+ chr = file.read(1)
+ if not chr:
+ break
+ if ((chr == 'n') or (chr == '\r') or (chr == '\n')):
+ continue
+ elif (chr == ';'):
+ if (num != ''):
+ if (mode == 'PR'):
+ if (point == 0):
+ x += float(num)/40.0
+ points[-1].append(x)
+ else:
+ y += float(num)/40.0
+ points[-1].append(y)
+ point = 1-point
else:
- y += float(num)/40.0
- points[-1].append(y)
- point = 1-point
- else:
- points[-1].append(float(num)/40.0)
- num = ''
- else:
- arg += chr
- if (arg == 'PA'):
- mode = 'PA'
- arg = ''
- elif (arg == 'PR'):
- mode = 'PR'
- arg = ''
- elif (arg == 'PU'):
- cmd = 'PU'
+ points[-1].append(float(num)/40.0)
+ num = ''
arg = ''
- points.append(['PU'])
- elif (arg == 'PD'):
- cmd = 'PD'
- arg = ''
- points.append(['PD'])
- elif ((chr in digits) and ((cmd == 'PU') or (cmd == 'PD'))):
- num += chr
- file.close()
- for segment in range(len(points)):
- for point in range(1,len(points[segment]),2):
- x = points[segment][point]
- if (x > xmax): xmax = x
- if (x < xmin): xmin = x
- y = points[segment][point+1]
- if (y > ymax): ymax = y
- if (y < ymin): ymin = y
- FileLimits.config(text=f"{xmax-xmin:.3f} x {ymax-ymin:.3f}")
- if ((xmax-xmin) > (ymax-ymin)):
- plotscale = (plotsize-2)/(xmax-xmin)
- else:
- plotscale = (plotsize-2)/(ymax-ymin)
- xold = 0
- yold = plotsize-1
- for segment in range(len(points)):
- type = points[segment][0]
- for point in range(1,len(points[segment]),2):
- xnew = 1+plotscale*(points[segment][point]-xmin)
- ynew = (plotsize-1)-plotscale*(points[segment][point+1]-ymin)
- if (type == 'PU'):
- Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#FF0000")
+ cmd = ''
+ elif (chr == ','):
+ if (num != ''):
+ if (mode == 'PR'):
+ if (point == 0):
+ x += float(num)/40.0
+ points[-1].append(x)
+ else:
+ y += float(num)/40.0
+ points[-1].append(y)
+ point = 1-point
+ else:
+ points[-1].append(float(num)/40.0)
+ num = ''
else:
- Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#000000")
- xold = xnew
- yold = ynew
-#
-def DrawFile():
- global points,xmin,ymin
- r0 = float(R0Var.get())
- r1 = float(R1Var.get())
- x0,y0 = PolarToCartesian(r0,r1)
- xold = 0
- yold = plotsize-1
- Plot.create_rectangle(0,0,plotsize,plotsize,outline='',fill='white')
- for segment in range(len(points)):
- type = points[segment][0]
- if (type == 'PU'):
- PenUp()
+ arg += chr
+ if (arg == 'PA'):
+ mode = 'PA'
+ arg = ''
+ elif (arg == 'PR'):
+ mode = 'PR'
+ arg = ''
+ elif (arg == 'PU'):
+ cmd = 'PU'
+ arg = ''
+ points.append(['PU'])
+ elif (arg == 'PD'):
+ cmd = 'PD'
+ arg = ''
+ points.append(['PD'])
+ elif ((chr in digits) and ((cmd == 'PU') or (cmd == 'PD'))):
+ num += chr
+ file.close()
+ for segment in range(len(points)):
+ for point in range(1,len(points[segment]),2):
+ x = points[segment][point]
+ if (x > xmax): xmax = x
+ if (x < xmin): xmin = x
+ y = points[segment][point+1]
+ if (y > ymax): ymax = y
+ if (y < ymin): ymin = y
+ FileLimits.config(text=f"{xmax-xmin:.3f} x {ymax-ymin:.3f}")
+ if ((xmax-xmin) > (ymax-ymin)):
+ plotscale = (plotsize-2)/(xmax-xmin)
else:
- PenDown()
- for point in range(1,len(points[segment]),2):
- xnew = 1+plotscale*(points[segment][point]-xmin)
- ynew = (plotsize-1)-plotscale*(points[segment][point+1]-ymin)
+ plotscale = (plotsize-2)/(ymax-ymin)
+ xold = 0
+ yold = plotsize-1
+ for segment in range(len(points)):
+ type = points[segment][0]
+ for point in range(1,len(points[segment]),2):
+ xnew = 1+plotscale*(points[segment][point]-xmin)
+ ynew = (plotsize-1)-plotscale*(points[segment][point+1]-ymin)
+ if (type == 'PU'):
+ Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#FF0000")
+ else:
+ Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#000000")
+ xold = xnew
+ yold = ynew
+ #
+ def DrawFile():
+ global points,xmin,ymin
+ r0 = float(R0Var.get())
+ r1 = float(R1Var.get())
+ x0,y0 = PolarToCartesian(r0,r1)
+ xold = 0
+ yold = plotsize-1
+ Plot.create_rectangle(0,0,plotsize,plotsize,outline='',fill='white')
+ for segment in range(len(points)):
+ type = points[segment][0]
if (type == 'PU'):
- Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#FF0000")
+ PenUp()
else:
- Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#000000")
- xold = xnew
- yold = ynew
- x = x0-points[segment][point]+xmin
- y = y0-points[segment][point+1]+ymin
- MoveTo(x,y)
-#
-def MoveTo(xnew,ynew):
- r0 = float(R0Var.get())
- r1 = float(R1Var.get())
- x,y = PolarToCartesian(r0,r1)
- r0new,r1new = CartesianToPolar(xnew,ynew)
- count0 = int((r0new-r0)/float(StepSizeVar.get()))
- count1 = int((r1new-r1)/float(StepSizeVar.get()))
- r = sqrt(count0*count0+count1*count1)
- if (r == 0):
- return
- t = r*float(StepTimeVar.get())*1000000
- if (count0 != 0):
- Step0.value = fabs(t/count0)
- if (count1 != 0):
- Step1.value = fabs(t/count1)
- Count0.value,Count1.value = count0,count1
- R0Var.set(f"{float(R0Var.get())+count0*float(StepSizeVar.get()):.3f}")
- R1Var.set(f"{float(R1Var.get())+count1*float(StepSizeVar.get()):.3f}")
- root.update()
- while (True):
- if ((Count0.value == 0) and (Count1.value == 0)):
+ PenDown()
+ for point in range(1,len(points[segment]),2):
+ xnew = 1+plotscale*(points[segment][point]-xmin)
+ ynew = (plotsize-1)-plotscale*(points[segment][point+1]-ymin)
+ if (type == 'PU'):
+ Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#FF0000")
+ else:
+ Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#000000")
+ xold = xnew
+ yold = ynew
+ x = x0-points[segment][point]+xmin
+ y = y0-points[segment][point+1]+ymin
+ MoveTo(x,y)
+ #
+ def MoveTo(xnew,ynew):
+ r0 = float(R0Var.get())
+ r1 = float(R1Var.get())
+ x,y = PolarToCartesian(r0,r1)
+ r0new,r1new = CartesianToPolar(xnew,ynew)
+ count0 = int((r0new-r0)/float(StepSizeVar.get()))
+ count1 = int((r1new-r1)/float(StepSizeVar.get()))
+ r = sqrt(count0*count0+count1*count1)
+ if (r == 0):
return
-#
-# set up UI
-#
-root = Tk()
-root.title('Urumbot-serial.py')
-root.configure(bg='white')
-pad = 2
-#
-row = 0
-Button(root,text='Quit',command=Quit,bg='white').grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Baud Rate: ',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-BaudRateVar = StringVar(root,'921600')
-Entry(root,textvariable=BaudRateVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Jog steps:',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-JogStepsVar = StringVar(root,'5000')
-Entry(root,textvariable=JogStepsVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Step size (mm):',bg='white').grid(column=0,row=row,padx=pad)
-StepSizeVar = StringVar(root,'0.02')
-Entry(root,textvariable=StepSizeVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Step time (s): ',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-StepTimeVar = StringVar(root,'0.0005')
-Entry(root,textvariable=StepTimeVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-ConnectButton = Button(root,text='Connect',command=Connect,bg='white')
-ConnectButton.grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Motor',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-Label(root,text='Port',bg='white').grid(column=1,row=row,padx=pad,pady=pad)
-Label(root,text='Jog',bg='white').grid(column=2,row=row,columnspan=2,padx=pad,pady=pad)
-Label(root,text='x (mm)',bg='white').grid(column=4,row=row,padx=pad,pady=pad)
-Label(root,text='y (mm)',bg='white').grid(column=5,row=row,padx=pad,pady=pad)
-row += 1
-Label(root,text='0',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-Port0Var = StringVar(root,'/dev/ttyACM0')
-Entry(root,textvariable=Port0Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-Button(root,text='CW',command=Jog0CW,bg='white').grid(column=2,row=row,padx=pad,pady=pad)
-Button(root,text='CCW',command=Jog0CCW,bg='white').grid(column=3,row=row,padx=pad,pady=pad)
-X0Var = StringVar(root,'0')
-Entry(root,textvariable=X0Var,width=10).grid(column=4,row=row,padx=pad,pady=pad)
-Y0Var = StringVar(root,'0')
-Entry(root,textvariable=Y0Var,width=10).grid(column=5,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='1',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-Port1Var = StringVar(root,'/dev/ttyACM1')
-Entry(root,textvariable=Port1Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-Button(root,text='CW',command=Jog1CW,bg='white').grid(column=2,row=row,padx=pad,pady=pad)
-Button(root,text='CCW',command=Jog1CCW,bg='white').grid(column=3,row=row,padx=pad,pady=pad)
-X1Var = StringVar(root,'500')
-Entry(root,textvariable=X1Var,width=10).grid(column=4,row=row,padx=pad,pady=pad)
-Y1Var = StringVar(root,'0')
-Entry(root,textvariable=Y1Var,width=10).grid(column=5,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Angle (degrees)',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-JogAngleVar = StringVar(root,'0')
-Entry(root,textvariable=JogAngleVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-Button(root,text='Jog Angle',command=JogAngle,bg='white').grid(column=2,columnspan=2,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Radius 0 (mm):',bg='white').grid(column=0,row=row,padx=pad)
-R0Var = StringVar(root,'500')
-Entry(root,textvariable=R0Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Radius 1 (mm):',bg='white').grid(column=0,row=row,padx=pad)
-R1Var = StringVar(root,'500')
-Entry(root,textvariable=R1Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-Label(root,text='min',bg='white').grid(column=4,row=row,padx=pad)
-Label(root,text='max',bg='white').grid(column=5,row=row,padx=pad)
-#
-row += 1
-Label(root,text='Z servo:',bg='white').grid(column=0,row=row,padx=pad)
-PortZVar = StringVar(root,'/dev/ttyACM2')
-Entry(root,textvariable=PortZVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-Label(root,text='PWM (us):',bg='white').grid(column=2,columnspan=2,row=row,padx=pad)
-PWMinVar = StringVar(root,'1000')
-Entry(root,textvariable=PWMinVar,width=10).grid(column=4,row=row,padx=pad,pady=pad)
-PWMaxVar = StringVar(root,'2000')
-Entry(root,textvariable=PWMaxVar,width=10).grid(column=5,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='PWM (us):',bg='white').grid(column=0,row=row,padx=pad)
-PWMVar = StringVar(root,'1500')
-Servo.value = int(PWMVar.get())
-Entry(root,textvariable=PWMVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-Button(root,text='Update',command=UpdatePWM,bg='white').grid(column=2,columnspan=2,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='Servo Delay (s):',bg='white').grid(column=0,row=row,padx=pad)
-ServoDelayVar = StringVar(root,'0.5')
-Entry(root,textvariable=ServoDelayVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Button(root,text='Load HPGL File',command=LoadFile,bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-FileNameVar = StringVar(root,'')
-Button(root,text='Draw',command=DrawFile,bg='white').grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='drawing size (mm):',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
-FileLimits = Label(root,text='',bg='white')
-FileLimits.grid(column=1,row=row,padx=pad,pady=pad)
-#
-row += 1
-Label(root,text='origin',bg='white').grid(column=0,row=row,padx=pad,pady=pad,sticky='se')
-Plot = Canvas(root,width=plotsize,height=plotsize,background='white')
-Plot.grid(column=1,row=row,columnspan=4,padx=pad,pady=pad,sticky='sw')
-#
-# start mainloop
-#
-root.mainloop()
+ t = r*float(StepTimeVar.get())*1000000
+ if (count0 != 0):
+ Step0.value = fabs(t/count0)
+ if (count1 != 0):
+ Step1.value = fabs(t/count1)
+ Count0.value,Count1.value = count0,count1
+ R0Var.set(f"{float(R0Var.get())+count0*float(StepSizeVar.get()):.3f}")
+ R1Var.set(f"{float(R1Var.get())+count1*float(StepSizeVar.get()):.3f}")
+ root.update()
+ while (True):
+ if ((Count0.value == 0) and (Count1.value == 0)):
+ return
+ #
+ # set up UI
+ #
+ root = Tk()
+ root.title('Urumbot-serial.py')
+ root.configure(bg='white')
+ pad = 2
+ #
+ row = 0
+ Button(root,text='Quit',command=Quit,bg='white').grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Baud Rate: ',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ BaudRateVar = StringVar(root,'921600')
+ Entry(root,textvariable=BaudRateVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Jog steps:',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ JogStepsVar = StringVar(root,'5000')
+ Entry(root,textvariable=JogStepsVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Step size (mm):',bg='white').grid(column=0,row=row,padx=pad)
+ StepSizeVar = StringVar(root,'0.02')
+ Entry(root,textvariable=StepSizeVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Step time (s): ',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ StepTimeVar = StringVar(root,'0.0005')
+ Entry(root,textvariable=StepTimeVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ ConnectButton = Button(root,text='Connect',command=Connect,bg='white')
+ ConnectButton.grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Motor',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ Label(root,text='Port',bg='white').grid(column=1,row=row,padx=pad,pady=pad)
+ Label(root,text='Jog',bg='white').grid(column=2,row=row,columnspan=2,padx=pad,pady=pad)
+ Label(root,text='x (mm)',bg='white').grid(column=4,row=row,padx=pad,pady=pad)
+ Label(root,text='y (mm)',bg='white').grid(column=5,row=row,padx=pad,pady=pad)
+ row += 1
+ Label(root,text='0',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ Port0Var = StringVar(root,'/dev/ttyACM0')
+ Entry(root,textvariable=Port0Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ Button(root,text='CW',command=Jog0CW,bg='white').grid(column=2,row=row,padx=pad,pady=pad)
+ Button(root,text='CCW',command=Jog0CCW,bg='white').grid(column=3,row=row,padx=pad,pady=pad)
+ X0Var = StringVar(root,'0')
+ Entry(root,textvariable=X0Var,width=10).grid(column=4,row=row,padx=pad,pady=pad)
+ Y0Var = StringVar(root,'0')
+ Entry(root,textvariable=Y0Var,width=10).grid(column=5,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='1',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ Port1Var = StringVar(root,'/dev/ttyACM1')
+ Entry(root,textvariable=Port1Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ Button(root,text='CW',command=Jog1CW,bg='white').grid(column=2,row=row,padx=pad,pady=pad)
+ Button(root,text='CCW',command=Jog1CCW,bg='white').grid(column=3,row=row,padx=pad,pady=pad)
+ X1Var = StringVar(root,'500')
+ Entry(root,textvariable=X1Var,width=10).grid(column=4,row=row,padx=pad,pady=pad)
+ Y1Var = StringVar(root,'0')
+ Entry(root,textvariable=Y1Var,width=10).grid(column=5,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Angle (degrees)',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ JogAngleVar = StringVar(root,'0')
+ Entry(root,textvariable=JogAngleVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ Button(root,text='Jog Angle',command=JogAngle,bg='white').grid(column=2,columnspan=2,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Radius 0 (mm):',bg='white').grid(column=0,row=row,padx=pad)
+ R0Var = StringVar(root,'500')
+ Entry(root,textvariable=R0Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Radius 1 (mm):',bg='white').grid(column=0,row=row,padx=pad)
+ R1Var = StringVar(root,'500')
+ Entry(root,textvariable=R1Var,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ Label(root,text='min',bg='white').grid(column=4,row=row,padx=pad)
+ Label(root,text='max',bg='white').grid(column=5,row=row,padx=pad)
+ #
+ row += 1
+ Label(root,text='Z servo:',bg='white').grid(column=0,row=row,padx=pad)
+ PortZVar = StringVar(root,'/dev/ttyACM2')
+ Entry(root,textvariable=PortZVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ Label(root,text='PWM (us):',bg='white').grid(column=2,columnspan=2,row=row,padx=pad)
+ PWMinVar = StringVar(root,'1000')
+ Entry(root,textvariable=PWMinVar,width=10).grid(column=4,row=row,padx=pad,pady=pad)
+ PWMaxVar = StringVar(root,'2000')
+ Entry(root,textvariable=PWMaxVar,width=10).grid(column=5,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='PWM (us):',bg='white').grid(column=0,row=row,padx=pad)
+ PWMVar = StringVar(root,'1500')
+ vars.Servo.value = int(PWMVar.get())
+ Entry(root,textvariable=PWMVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ Button(root,text='Update',command=UpdatePWM,bg='white').grid(column=2,columnspan=2,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='Servo Delay (s):',bg='white').grid(column=0,row=row,padx=pad)
+ ServoDelayVar = StringVar(root,'0.5')
+ Entry(root,textvariable=ServoDelayVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Button(root,text='Load HPGL File',command=LoadFile,bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ FileNameVar = StringVar(root,'')
+ Button(root,text='Draw',command=DrawFile,bg='white').grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='drawing size (mm):',bg='white').grid(column=0,row=row,padx=pad,pady=pad)
+ FileLimits = Label(root,text='',bg='white')
+ FileLimits.grid(column=1,row=row,padx=pad,pady=pad)
+ #
+ row += 1
+ Label(root,text='origin',bg='white').grid(column=0,row=row,padx=pad,pady=pad,sticky='se')
+ Plot = Canvas(root,width=plotsize,height=plotsize,background='white')
+ Plot.grid(column=1,row=row,columnspan=4,padx=pad,pady=pad,sticky='sw')
+ #
+ # start mainloop
+ #
+ root.mainloop()
--
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