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Use grbl's recommended command streaming setup

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This commit is contained in:
Cole Deck 2020-03-03 01:11:00 +00:00
parent be2357b9b0
commit 52ef77e389
1 changed files with 33 additions and 5 deletions
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38
control_motor.py
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@ -8,15 +8,34 @@ gpio.setmode(gpio.BCM)
gpio.setup(13, gpio.OUT) gpio.setup(13, gpio.OUT)
pwm = gpio.PWM(13, 100) pwm = gpio.PWM(13, 100)
pwm.start(5) pwm.start(5)
verbose = True
print("Initializing Grbl...")
ser.write("\r\n\r\n")
time.sleep(2)
ser.write(b'$RST=#\n')
time.sleep(1)
ser.flushInput()
def goToBin(bin): def goToBin(bin):
adjustedBin = math.floor(bin / 2) adjustedBin = math.floor(bin / 2)
distance = adjustedBin * 18 distance = adjustedBin * 18
delay = 0.5 + 0.93 * adjustedBin delay = 0.5 + 0.93 * adjustedBin
command = 'G0 X' command = 'G0 -X'
command += distance command += distance
ser.write(command) command += '\n'
time.sleep(delay) ser.write(command.encode('utf-8'))
# s.write("$C\n")
while True:
grbl_out = s.readline().strip() # Wait for grbl response with carriage return
if grbl_out.find('error') >= 0 :
print "REC:",grbl_out
print " Grbl reported error!"
quit()
elif grbl_out.find('ok') >= 0 :
if verbose: print 'REC:',grbl_out
break
# time.sleep(delay)
if bin % 2 == 0: # tilt to right if bin % 2 == 0: # tilt to right
pwm.ChangeDutyCycle(0) pwm.ChangeDutyCycle(0)
time.sleep(1) time.sleep(1)
@ -25,5 +44,14 @@ def goToBin(bin):
pwm.ChangeDutyCycle(40) pwm.ChangeDutyCycle(40)
time.sleep(1) time.sleep(1)
pwm.ChangeDutyCycle(20) pwm.ChangeDutyCycle(20)
ser.write(b'G0 X0') ser.write(b'G0 X0\n')
time.sleep(delay) while True:
grbl_out = s.readline().strip() # Wait for grbl response with carriage return
if grbl_out.find('error') >= 0 :
print "REC:",grbl_out
print " Grbl reported error!"
quit()
elif grbl_out.find('ok') >= 0 :
if verbose: print 'REC:',grbl_out
break
#time.sleep(delay)