| 144,9 → 144,12 |
|---|
| Y = axis(spi.I2CSPI_SS0, 1, 642) |
| Z = axis(spi.I2CSPI_SS2, 1, 32256) |
| |
| X.MaxSpeed(60) |
| Y.MaxSpeed(60) |
| Z.MaxSpeed(38) |
| #X.MaxSpeed(50) |
| #Y.MaxSpeed(50) |
| #Z.MaxSpeed(30) |
| X.MaxSpeed(40) |
| Y.MaxSpeed(40) |
| Z.MaxSpeed(20) |
| |
| Z.GoZero(100) |
| Y.GoZero(20) |
| 154,42 → 157,49 |
|---|
| |
| time.sleep(1) |
| |
| X.Move(30) |
| Y.Move(50) |
| Z.MoveWait(58) |
| X.Move(50) |
| X.Move(15) |
| Y.Move(150) |
| Z.MoveWait(37) |
| time.sleep(1) |
| Z.MoveWait(-5) |
| Y.Move(-4) |
| X.MoveWait(73) |
| |
| |
| print "Robot is running" |
| |
| for y in range(2): |
| for x in range(5): |
| Z.MoveWait(5) |
| xsteps = 2 #9 |
| ysteps = 6 |
| space = 5 |
| grid = 8 |
| |
| for y in range(ysteps): |
| for x in range(xsteps): |
| Z.MoveWait(space) |
| time.sleep(1) |
| Z.MoveWait(-5) |
| if x < 4: |
| X.MoveWait(8) |
| Y.MoveWait(8) |
| for x in range(5): |
| Z.MoveWait(5) |
| Z.MoveWait(-space) |
| if x < (xsteps - 1): |
| X.MoveWait(grid) |
| Y.MoveWait(-grid) |
| for x in range(xsteps): |
| Z.MoveWait(space) |
| time.sleep(1) |
| Z.MoveWait(-5) |
| if x < 4: |
| X.MoveWait(-8) |
| Y.MoveWait(8) |
| Z.MoveWait(-space) |
| if x < (xsteps - 1): |
| X.MoveWait(-grid) |
| Y.MoveWait(-grid) |
| |
| X.Move(-50) |
| Z.MoveWait(-30) |
| X.MoveWait(-74) |
| #Z.MoveWait(-10) |
| Y.MoveWait(ysteps*grid*2+4) |
| X.Float() |
| Y.Float() |
| Z.Float() |
| |
| |
| ''' |
| while True: |
| print X.ReadStatusBit(2) |
| time.sleep(1) |
| ''' |
| |
| finally: |
| print "stop" |