| Rev 4265 | Rev 4309 | ||
|---|---|---|---|
| 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) |
|
| 147 | X.MaxSpeed(60) |
150 | X.MaxSpeed(40) |
| 148 | Y.MaxSpeed(60) |
151 | Y.MaxSpeed(40) |
| 149 | Z.MaxSpeed(38) |
152 | Z.MaxSpeed(20) |
| 150 | |
153 | |
| 151 | Z.GoZero(100) |
154 | Z.GoZero(100) |
| 152 | Y.GoZero(20) |
155 | Y.GoZero(20) |
| 153 | X.GoZero(20) |
156 | X.GoZero(20) |
| 154 | |
157 | |
| 155 | time.sleep(1) |
158 | time.sleep(1) |
| 156 | |
159 | |
| 157 | X.Move(30) |
160 | X.Move(15) |
| 158 | Y.Move(50) |
161 | Y.Move(150) |
| - | 162 | Z.MoveWait(37) |
|
| - | 163 | time.sleep(1) |
|
| 159 | Z.MoveWait(58) |
164 | Z.MoveWait(-5) |
| - | 165 | Y.Move(-4) |
|
| 160 | X.Move(50) |
166 | X.MoveWait(73) |
| 161 | |
167 | |
| 162 | |
168 | |
| 163 | print "Robot is running" |
169 | print "Robot is running" |
| 164 | |
170 | |
| - | 171 | xsteps = 2 #9 |
|
| - | 172 | ysteps = 6 |
|
| - | 173 | space = 5 |
|
| - | 174 | grid = 8 |
|
| - | 175 | |
|
| 165 | for y in range(2): |
176 | for y in range(ysteps): |
| 166 | for x in range(5): |
177 | for x in range(xsteps): |
| 167 | Z.MoveWait(5) |
178 | Z.MoveWait(space) |
| 168 | time.sleep(1) |
179 | time.sleep(1) |
| 169 | Z.MoveWait(-5) |
180 | Z.MoveWait(-space) |
| 170 | if x < 4: |
181 | if x < (xsteps - 1): |
| 171 | X.MoveWait(8) |
182 | X.MoveWait(grid) |
| 172 | Y.MoveWait(8) |
183 | Y.MoveWait(-grid) |
| 173 | for x in range(5): |
184 | for x in range(xsteps): |
| 174 | Z.MoveWait(5) |
185 | Z.MoveWait(space) |
| 175 | time.sleep(1) |
186 | time.sleep(1) |
| 176 | Z.MoveWait(-5) |
187 | Z.MoveWait(-space) |
| 177 | if x < 4: |
188 | if x < (xsteps - 1): |
| 178 | X.MoveWait(-8) |
189 | X.MoveWait(-grid) |
| 179 | Y.MoveWait(8) |
190 | Y.MoveWait(-grid) |
| 180 | |
191 | |
| 181 | X.Move(-50) |
192 | X.MoveWait(-74) |
| 182 | Z.MoveWait(-30) |
193 | #Z.MoveWait(-10) |
| - | 194 | Y.MoveWait(ysteps*grid*2+4) |
|
| 183 | X.Float() |
195 | X.Float() |
| 184 | Y.Float() |
196 | Y.Float() |
| 185 | Z.Float() |
197 | Z.Float() |
| 186 | |
198 | |
| 187 | |
199 | |
| 188 | ''' |
- | |
| 189 | while True: |
200 | while True: |
| 190 | print X.ReadStatusBit(2) |
201 | print X.ReadStatusBit(2) |
| 191 | time.sleep(1) |
202 | time.sleep(1) |
| 192 | ''' |
- | |
| 193 | |
203 | |
| 194 | finally: |
204 | finally: |
| 195 | print "stop" |
205 | print "stop" |