| Line 142... |
Line 142... |
| 142 |
print "Robot inicialization" |
142 |
print "Robot inicialization" |
| 143 |
X = axis(spi.I2CSPI_SS1, 0, 641) |
143 |
X = axis(spi.I2CSPI_SS1, 0, 641) |
| 144 |
Y = axis(spi.I2CSPI_SS0, 1, 642) |
144 |
Y = axis(spi.I2CSPI_SS0, 1, 642) |
| 145 |
Z = axis(spi.I2CSPI_SS2, 1, 32256) |
145 |
Z = axis(spi.I2CSPI_SS2, 1, 32256) |
| 146 |
|
146 |
|
| 147 |
#X.MaxSpeed(50) |
- |
|
| 148 |
#Y.MaxSpeed(50) |
- |
|
| 149 |
#Z.MaxSpeed(30) |
- |
|
| 150 |
X.MaxSpeed(35) |
147 |
X.MaxSpeed(35) # max. 50 |
| 151 |
Y.MaxSpeed(35) |
148 |
Y.MaxSpeed(35) # max. 50 |
| 152 |
Z.MaxSpeed(20) |
149 |
Z.MaxSpeed(20) # max. 30 |
| 153 |
|
150 |
|
| 154 |
Z.GoZero(100) |
151 |
Z.GoZero(100) |
| 155 |
Y.GoZero(20) |
152 |
Y.GoZero(20) |
| 156 |
X.GoZero(20) |
153 |
X.GoZero(20) |
| 157 |
|
154 |
|
| 158 |
time.sleep(1) |
155 |
time.sleep(1) |
| 159 |
|
156 |
|
| 160 |
X.Move(17) |
157 |
X.Move(16) |
| 161 |
Y.Move(150) |
158 |
Y.Move(150) |
| 162 |
Z.MoveWait(39) |
159 |
Z.MoveWait(39) |
| 163 |
time.sleep(1) |
160 |
time.sleep(1) |
| 164 |
Z.MoveWait(-5) |
161 |
Z.MoveWait(-5) |
| 165 |
|
162 |
|
| Line 167... |
Line 164... |
| 167 |
print "Robot is running" |
164 |
print "Robot is running" |
| 168 |
|
165 |
|
| 169 |
xcorner = 72 |
166 |
xcorner = 72 |
| 170 |
xsteps = 9 |
167 |
xsteps = 9 |
| 171 |
ysteps = 6 # *2 + 1 line |
168 |
ysteps = 6 # *2 + 1 line |
| - |
|
169 |
yy = 0 |
| 172 |
space = 4 |
170 |
space = 4 |
| 173 |
grid = 8 |
171 |
grid = 8 |
| 174 |
delay = 1 |
172 |
delay = 40 |
| 175 |
|
173 |
|
| 176 |
#Y.Move(-4) |
- |
|
| 177 |
X.MoveWait(xcorner) |
174 |
X.MoveWait(xcorner) |
| 178 |
|
175 |
|
| 179 |
for y in range(ysteps): |
176 |
for y in range(ysteps): |
| 180 |
for x in range(xsteps): |
177 |
for x in range(xsteps): |
| - |
|
178 |
print x, yy |
| - |
|
179 |
yy += 1 |
| 181 |
Z.MoveWait(space) |
180 |
Z.MoveWait(space) |
| 182 |
time.sleep(delay) |
181 |
time.sleep(delay) |
| 183 |
Z.MoveWait(-space) |
182 |
Z.MoveWait(-space) |
| 184 |
if x < (xsteps - 1): |
183 |
if x < (xsteps - 1): |
| 185 |
X.MoveWait(grid) |
184 |
X.MoveWait(grid) |
| 186 |
Y.MoveWait(-grid) |
185 |
Y.MoveWait(-grid) |
| 187 |
for x in range(xsteps): |
186 |
for x in range(xsteps): |
| - |
|
187 |
print x, yy |
| - |
|
188 |
yy += 1 |
| 188 |
Z.MoveWait(space) |
189 |
Z.MoveWait(space) |
| 189 |
time.sleep(delay) |
190 |
time.sleep(delay) |
| 190 |
Z.MoveWait(-space) |
191 |
Z.MoveWait(-space) |
| 191 |
if x < (xsteps - 1): |
192 |
if x < (xsteps - 1): |
| 192 |
X.MoveWait(-grid) |
193 |
X.MoveWait(-grid) |
| 193 |
Y.MoveWait(-grid) |
194 |
Y.MoveWait(-grid) |
| 194 |
|
195 |
|
| 195 |
for x in range(xsteps): |
196 |
for x in range(xsteps): |
| - |
|
197 |
print x, y |
| 196 |
Z.MoveWait(space) |
198 |
Z.MoveWait(space) |
| 197 |
time.sleep(delay) |
199 |
time.sleep(delay) |
| 198 |
Z.MoveWait(-space) |
200 |
Z.MoveWait(-space) |
| 199 |
if x < (xsteps - 1): |
201 |
if x < (xsteps - 1): |
| 200 |
X.MoveWait(grid) |
202 |
X.MoveWait(grid) |
| Line 207... |
Line 209... |
| 207 |
Y.Float() |
209 |
Y.Float() |
| 208 |
Z.Float() |
210 |
Z.Float() |
| 209 |
|
211 |
|
| 210 |
|
212 |
|
| 211 |
while True: |
213 |
while True: |
| 212 |
print X.ReadStatusBit(2) |
214 |
print X.ReadStatusBit(2), "end" |
| 213 |
time.sleep(1) |
215 |
time.sleep(1) |
| 214 |
|
216 |
|
| 215 |
finally: |
217 |
finally: |
| 216 |
print "stop" |
218 |
print "stop" |