| Line 145... |
Line 145... |
| 145 |
Z = axis(spi.I2CSPI_SS2, 1, 32256) |
145 |
Z = axis(spi.I2CSPI_SS2, 1, 32256) |
| 146 |
|
146 |
|
| 147 |
#X.MaxSpeed(50) |
147 |
#X.MaxSpeed(50) |
| 148 |
#Y.MaxSpeed(50) |
148 |
#Y.MaxSpeed(50) |
| 149 |
#Z.MaxSpeed(30) |
149 |
#Z.MaxSpeed(30) |
| 150 |
X.MaxSpeed(40) |
150 |
X.MaxSpeed(35) |
| 151 |
Y.MaxSpeed(40) |
151 |
Y.MaxSpeed(35) |
| 152 |
Z.MaxSpeed(20) |
152 |
Z.MaxSpeed(20) |
| 153 |
|
153 |
|
| 154 |
Z.GoZero(100) |
154 |
Z.GoZero(100) |
| 155 |
Y.GoZero(20) |
155 |
Y.GoZero(20) |
| 156 |
X.GoZero(20) |
156 |
X.GoZero(20) |
| 157 |
|
157 |
|
| 158 |
time.sleep(1) |
158 |
time.sleep(1) |
| 159 |
|
159 |
|
| 160 |
X.Move(15) |
160 |
X.Move(17) |
| 161 |
Y.Move(150) |
161 |
Y.Move(150) |
| 162 |
Z.MoveWait(37) |
162 |
Z.MoveWait(39) |
| 163 |
time.sleep(1) |
163 |
time.sleep(1) |
| 164 |
Z.MoveWait(-5) |
164 |
Z.MoveWait(-5) |
| - |
|
165 |
|
| 165 |
|
166 |
|
| 166 |
print "Robot is running" |
167 |
print "Robot is running" |
| 167 |
|
168 |
|
| 168 |
corner = 73 |
169 |
xcorner = 72 |
| 169 |
xsteps = 9 |
170 |
xsteps = 9 |
| 170 |
ysteps = 6 # *2 + 1 line |
171 |
ysteps = 6 # *2 + 1 line |
| 171 |
space = 5 |
172 |
space = 4 |
| 172 |
grid = 8 |
173 |
grid = 8 |
| - |
|
174 |
delay = 1 |
| 173 |
|
175 |
|
| 174 |
#Y.Move(-4) |
176 |
#Y.Move(-4) |
| 175 |
X.MoveWait(corner) |
177 |
X.MoveWait(xcorner) |
| 176 |
|
178 |
|
| 177 |
for y in range(ysteps): |
179 |
for y in range(ysteps): |
| 178 |
for x in range(xsteps): |
180 |
for x in range(xsteps): |
| 179 |
Z.MoveWait(space) |
181 |
Z.MoveWait(space) |
| 180 |
time.sleep(1) |
182 |
time.sleep(delay) |
| 181 |
Z.MoveWait(-space) |
183 |
Z.MoveWait(-space) |
| 182 |
if x < (xsteps - 1): |
184 |
if x < (xsteps - 1): |
| 183 |
X.MoveWait(grid) |
185 |
X.MoveWait(grid) |
| 184 |
Y.MoveWait(-grid) |
186 |
Y.MoveWait(-grid) |
| 185 |
for x in range(xsteps): |
187 |
for x in range(xsteps): |
| 186 |
Z.MoveWait(space) |
188 |
Z.MoveWait(space) |
| 187 |
time.sleep(1) |
189 |
time.sleep(delay) |
| 188 |
Z.MoveWait(-space) |
190 |
Z.MoveWait(-space) |
| 189 |
if x < (xsteps - 1): |
191 |
if x < (xsteps - 1): |
| 190 |
X.MoveWait(-grid) |
192 |
X.MoveWait(-grid) |
| 191 |
Y.MoveWait(-grid) |
193 |
Y.MoveWait(-grid) |
| 192 |
|
194 |
|
| 193 |
for x in range(xsteps): |
195 |
for x in range(xsteps): |
| 194 |
Z.MoveWait(space) |
196 |
Z.MoveWait(space) |
| 195 |
time.sleep(1) |
197 |
time.sleep(delay) |
| 196 |
Z.MoveWait(-space) |
198 |
Z.MoveWait(-space) |
| 197 |
if x < (xsteps - 1): |
199 |
if x < (xsteps - 1): |
| 198 |
X.MoveWait(grid) |
200 |
X.MoveWait(grid) |
| 199 |
Y.MoveWait(-20) |
201 |
Y.MoveWait(-20) |
| 200 |
|
202 |
|
| 201 |
X.MoveWait(-(corner+(xsteps-1)*grid)) |
203 |
X.MoveWait(-(xcorner+(xsteps-1)*grid)) |
| 202 |
#Z.MoveWait(-10) |
204 |
#Z.MoveWait(-10) |
| 203 |
Y.MoveWait(ysteps*grid*2+20) |
205 |
Y.MoveWait(ysteps*grid*2+20) |
| 204 |
X.Float() |
206 |
X.Float() |
| 205 |
Y.Float() |
207 |
Y.Float() |
| 206 |
Z.Float() |
208 |
Z.Float() |