rotor 0.0.10 → 0.0.11

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -21,6 +21,28 @@ or ULN2800 Integrated Controllers.
   The goal of this gem is to make controlling your robotics easier than
   other solutions.
 
+  Added Homing Switch options where you can add the GPIO of the switch
+  and indicate if it is normally open or normally closed. I have my homing
+  switches on each axis configured in parallel since I know the direction
+  that the panel is moving in and therefore know which side it has hit. This
+  was to reduce the number of GPIO pins required.
+
+  stepper_x = Rotor::Stepper.new(23,12,17,24,nil,13,LOW)
+  stepper_y = Rotor::Stepper.new(25, 4,21,22,nil,19,LOW)
+
+  You can use a servo to control the marker (or leave blank if you're using a Z Axis Stepper)
+  This will be built out so that the strength control of the servo (for laser power) can be
+  adjusted and inputs sent in. However, for development purposes, I recommend not playing with
+  lasers, but rather get the machine and code working properly first.
+
+  servo = Rotor::Servo.new(18)
+
+  You can send the stepper motor to the outter edges of the board.
+
+  # stepper_x.set_home(:backwards)
+  # stepper_x.forward(1,100)
+  # stepper_y.set_home(:forward)
+
     stepper_x = Rotor::Stepper.new(4,17,23,24,18)
     stepper_y = Rotor::Stepper.new(25,12,16,21,18)
     
@@ -40,6 +62,21 @@ or ULN2800 Integrated Controllers.
       stepper_y.backwards(5,text.to_i)
     end
 
+# GCode Simulation
+
+GCode can be simulated (this is my latest part of the project) where
+a file can be read in and the movements interpreted. I'm still working
+on the ARC movement on G02 and G03, but have gotten G0 and G1 working.
+
+Enter each stepper motor (or nil if you do not have that particular axis)
+along with the scale (multiplies all coordinates by this. Typically you will
+keep this at 1).
+
+    #gcode = Rotor::Gcode.new(stepper_x,stepper_y,stepper_z,1,servo)
+    gcode = Rotor::Gcode.new(nil,nil,nil,1,nil)
+    gcode.open('sample.nc')
+    gcode.simulate
+
 # Asynchronous Movement
 
   By default, if you run the first motor and then the second motor commands,

data/lib/rotor/gcode.rb

@@ -1,8 +1,11 @@
 module Rotor
   class Gcode
-    def initialize(stepper_x=nil,stepper_y=nil)
+    def initialize(stepper_x=nil,stepper_y=nil,stepper_z=nil,scale=1,servo=nil)
       @stepper_x = stepper_x
       @stepper_y = stepper_y
+      @stepper_z = stepper_z
+      @scale = scale
+      @servo = servo
     end
 
     def open(file)
@@ -10,20 +13,89 @@ module Rotor
     end
 
     def simulate
+      @x = 0
+      @y = 0
+      @z = 0
+
       @file.each_line do |line|
-        case line[0]
-        when "G"
-          puts "GLINE"
-        when "M"
-          puts "MLINE"
+        parsed_line = parse_line(line)
+        if parsed_line[:g]
+          #Move to this origin point.
+          if parsed_line[:g] == 0
+            move_stepper(parsed_line,1)
+          elsif parsed_line[:g] == 1
+            move_stepper(parsed_line,10)
+          else
+            # puts "GLINE - Something else"
+          end
+        elsif parsed_line[:m]
+          if line[0..2] == "M03"
+            puts "Lowering marker"
+            @servo.rotate(:down) if @servo
+          elsif line[0..2] == "M05"
+            puts "Lifting marker"
+            @servo.rotate(:up) if @servo
+          else
+            # puts "MLINE - Something else"
+          end
         else
-          puts "something else"
+          # puts "Something else"
         end
       end
     end
-  end
-end
 
-gcode = Rotor::Gcode.new
-gcode.open('sample.nc')
-gcode.simulate
+    def move_stepper(parsed_line,delay)
+      threads = []
+      [:x,:y,:z].each do |element|
+        ets = element.to_s
+        instance_variable_set(:"@#{ets}_move",nil)    
+        if parsed_line[element]
+          instance_variable_set(:"@#{ets}_move",parsed_line[element])          
+          instance_variable_set(:"@#{ets}_move",0) unless instance_variable_get(:"@#{ets}_move")
+          instance_variable_set(:"@#{ets}_move",instance_variable_get(:"@#{ets}_move") * @scale)
+
+          instance_variable_set(:"@#{ets}_movement", (instance_variable_get(:"@#{ets}_move") - instance_variable_get(:"@#{ets}")).abs)
+
+          if instance_variable_get(:"@#{ets}_move").to_f > instance_variable_get(:"@#{ets}") #move to the right
+            if instance_variable_get(:"@stepper_#{ets}") && instance_variable_get(:"@stepper_#{ets}").at_safe_area?
+              threads << Thread.new { instance_variable_get(:"@stepper_#{ets}").forward(1, instance_variable_get(:"@#{ets}_movement")) }
+            end
+          elsif instance_variable_get(:"@#{ets}_move").to_f < instance_variable_get(:"@#{ets}") #move to the left
+            if instance_variable_get(:"@stepper_#{ets}") && instance_variable_get(:"@stepper_#{ets}").at_safe_area?
+              threads << Thread.new { instance_variable_get(:"@stepper_#{ets}").backwards(1, instance_variable_get(:"@#{ets}_movement")) } 
+            end
+          end
+          instance_variable_set(:"@#{ets}",instance_variable_get(:"@#{ets}_move"))
+        end
+      end
+
+      puts "Moving to G#{parsed_line[:g]} #{instance_variable_get(:"@x_move")}, #{instance_variable_get(:"@y_move")}, #{instance_variable_get(:"@z_move")}"
+      threads.each { |thr| thr.join }
+    end
+
+    def parse_line(line)
+      returned_json = {}
+      values = [:g,:x,:y,:z,:i,:j,:m,:f]
+      values.each do |element|
+        returned_json[element] = find_value(element,line)
+      end
+      return returned_json
+    end
+
+    def find_value(element,line)
+      node = element.to_s.upcase
+      data = line.match /#{node}(?<data>\d+[,.]\d+)/
+      data ||= line.match /#{node}(?<data>\d+)/
+      if data
+        case element
+        when :g, :m
+          return data[:data].to_i
+        when :x,:y,:z,:i,:k,:f
+          return data[:data].to_f
+        end
+      else
+        return nil
+      end
+    end
+  end
+end

data/lib/rotor/servo.rb

@@ -0,0 +1,29 @@
+require 'wiringpi'
+
+module Rotor
+  class Servo
+    def initialize(pin=18)
+      @io = WiringPi::GPIO.new(WPI_MODE_GPIO)
+      @pin = pin
+      @io.mode @pin, OUTPUT
+    end
+
+    def pulser(freq,dur)
+      @io.write @pin, HIGH
+      sleep (freq/1000)
+      @io.write @pin, LOW
+      sleep ((dur-freq)/1000)
+    end
+
+    def rotate(direction)
+        if direction == :up
+          freq = 1.0
+        elsif direction == :down
+          freq = 2.0
+        else
+          freq = 0.0
+        end
+        25.times do;pulser(freq,20.0);end
+    end
+  end
+end

data/lib/rotor/stepper.rb

@@ -12,6 +12,7 @@ module Rotor
 
       @homing_switch = homing_switch
       @homing_normally = homing_normally
+
       [@coil_A_1_pin, @coil_A_2_pin, @coil_B_1_pin, @coil_B_2_pin].each do |pin|
         `echo #{pin} > /sys/class/gpio/unexport`
         @io.mode(pin,OUTPUT)
@@ -24,6 +25,11 @@ module Rotor
         @io.write(@enable_pin,LOW)
         @io.write(@enable_pin,HIGH)
       end
+
+      unless @homing_switch == nil
+        `echo #{@homing_switch} > /sys/class/gpio/unexport`
+        @io.mode(@homing_switch,INPUT)
+      end
     end
 
     def forward(delay=5,steps=100)
@@ -62,14 +68,29 @@ module Rotor
     end
 
     def set_home(direction)
-      `echo #{@homing_switch} > /sys/class/gpio/unexport`
-      @io.mode(@homing_switch,INPUT)
+      puts "Setting #{direction} with Homing on GPIO #{@homing_switch}"
       @move = true
       while @move == true
-        backwards(10,5) if direction == :backwards && @io.read(@homing_switch) == @homing_normally
-        forward(10,5) if direction == :forward && @io.read(@homing_switch) == @homing_normally
+        backwards(2,1) if direction == :backwards #&& @io.read(@homing_switch) == @homing_normally
+        forward(2,1) if direction == :forward #&& @io.read(@homing_switch) == @homing_normally
+        @move = false unless @io.read(@homing_switch) == @homing_normally
       end
     end
 
+    def at_home?
+      if @io.read(@homing_switch) == @homing_normally
+        return true
+      else
+        return false
+      end
+    end
+
+      def at_safe_area?
+      if @io.read(@homing_switch) == @homing_normally
+        return false
+      else
+        return true
+      end
+    end  
   end
 end

data/lib/rotor/version.rb

@@ -1,3 +1,3 @@
 module Rotor
-  VERSION = "0.0.10"
+  VERSION = "0.0.11"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rotor
 version: !ruby/object:Gem::Version
-  version: 0.0.10
+  version: 0.0.11
 platform: ruby
 authors:
 - kobaltz
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-01-17 00:00:00.000000000 Z
+date: 2015-01-19 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -69,7 +69,7 @@ files:
 - lib/rotor.rb
 - lib/rotor/.DS_Store
 - lib/rotor/gcode.rb
-- lib/rotor/motor.rb
+- lib/rotor/servo.rb
 - lib/rotor/stepper.rb
 - lib/rotor/version.rb
 - rotor.gemspec

data/lib/rotor/motor.rb

@@ -1,76 +0,0 @@
-require 'wiringpi'
-
-module Rotor
-  class Stepper
-    def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil, homing_switch, homing_normally)
-      @io = WiringPi::GPIO.new(WPI_MODE_GPIO)
-      @coil_A_1_pin = coil_A_1_pin
-      @coil_A_2_pin = coil_A_2_pin
-      @coil_B_1_pin = coil_B_1_pin
-      @coil_B_2_pin = coil_B_2_pin
-      @enable_pin = enable_pin
-
-      @homing_switch = homing_switch
-      @homing_normally = homing_normally
-      [@coil_A_1_pin, @coil_A_2_pin, @coil_B_1_pin, @coil_B_2_pin].each do |pin|
-        `echo #{pin} > /sys/class/gpio/unexport`
-        @io.mode(pin,OUTPUT)
-        @io.write(pin,LOW)
-      end
-
-      unless @enable_pin == nil
-        `echo #{@enable_pin} > /sys/class/gpio/unexport`
-        @io.mode(@enable_pin,OUTPUT)
-        @io.write(@enable_pin,LOW)
-        @io.write(@enable_pin,HIGH)
-      end
-    end
-
-    def forward(delay=5,steps=100)
-      delay_time = delay/1000.0
-      (0..steps).each do |i|
-        set_step(1, 0, 1, 0)
-        sleep delay_time
-        set_step(0, 1, 1, 0)
-        sleep delay_time
-        set_step(0, 1, 0, 1)
-        sleep delay_time
-        set_step(1, 0, 0, 1)
-        sleep delay_time
-      end
-    end
-
-    def backwards(delay=5,steps=100)
-      delay_time = delay/1000.0
-      (0..steps).each do |i|
-        set_step(1, 0, 0, 1)
-        sleep delay_time
-        set_step(0, 1, 0, 1)
-        sleep delay_time
-        set_step(0, 1, 1, 0)
-        sleep delay_time
-        set_step(1, 0, 1, 0)
-        sleep delay_time
-      end
-    end
-
-    def set_step(w1, w2, w3, w4)
-      @io.write(@coil_A_1_pin, w1)
-      @io.write(@coil_A_2_pin, w2)
-      @io.write(@coil_B_1_pin, w3)
-      @io.write(@coil_B_2_pin, w4)
-    end
-
-    def set_home(direction)
-      `echo #{@homing_switch} > /sys/class/gpio/unexport`
-      @io.mode(@homing_switch,INPUT)
-      @move = true
-      while @move == true
-        backwards(2,1) if direction == :backwards #&& @io.read(@homing_switch) == @homing_normally
-        forward(2,1) if direction == :forward #&& @io.read(@homing_switch) == @homing_normally
-        @move = false unless @io.read(@homing_switch) == @homing_normally
-      end
-    end
-
-  end
-end