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New "Cycle" setup mode Add progress bars in CLI New draw_path function in Python API Now requiring Python 3.7 Bug fixes in issuing warnings New feature to enable alternate servo control pin Add new Python API Example scripts Significant refactoring in several areas Move most Python API specific functions to pyaxidraw.
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| Original file line number | Diff line number | Diff line change |
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| #!/usr/bin/env python | ||
| # -*- encoding: utf-8 -#- | ||
|
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| ''' | ||
| interactive_draw_path.py | ||
| Demonstrate use of axidraw module in "interactive" mode, drawing continuous | ||
| paths using the draw_path function. | ||
| Run this demo by calling: python interactive_draw_path.py | ||
| Interactive mode is a mode of use, designed for plotting individual motion | ||
| segments upon request, using direct XY control. It is a complement to the | ||
| usual plotting modes, which take an SVG document as input. | ||
| So long as the AxiDraw is started in the home corner, moves are limit checked, | ||
| and constrained to be within the safe travel range of the AxiDraw. | ||
| AxiDraw python API documentation is hosted at: https://axidraw.com/doc/py_api/ | ||
| --------------------------------------------------------------------- | ||
| About this software: | ||
| The AxiDraw writing and drawing machine is a product of Evil Mad Scientist | ||
| Laboratories. https://axidraw.com https://shop.evilmadscientist.com | ||
| This open source software is written and maintained by Evil Mad Scientist | ||
| to support AxiDraw users across a wide range of applications. Please help | ||
| support Evil Mad Scientist and open source software development by purchasing | ||
| genuine AxiDraw hardware. | ||
| AxiDraw software development is hosted at https://github.com/evil-mad/axidraw | ||
| Additional AxiDraw documentation is available at http://axidraw.com/docs | ||
| AxiDraw owners may request technical support for this software through our | ||
| github issues page, support forums, or by contacting us directly at: | ||
| https://shop.evilmadscientist.com/contact | ||
| --------------------------------------------------------------------- | ||
| Copyright 2020 Windell H. Oskay, Evil Mad Scientist Laboratories | ||
| The MIT License (MIT) | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ''' | ||
|
|
||
| import sys | ||
| import math | ||
| import time | ||
| from pyaxidraw import axidraw | ||
|
|
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| ad = axidraw.AxiDraw() # Initialize class | ||
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| def print_position(): | ||
| ''' | ||
| Query, report, and print position and pen state | ||
| ''' | ||
| turtle_position = ad.turtle_pos() | ||
| current_position = ad.current_pos() | ||
| print(f"Turtle position: {turtle_position[0]:0.3f}, {turtle_position[1]:0.3f}") | ||
| print(f"Actual position: {current_position[0]:0.3f}, {current_position[1]:0.3f}\n") | ||
|
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| ad.interactive() # Enter interactive mode | ||
| connected = ad.connect() # Open serial port to AxiDraw | ||
|
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| if not connected: | ||
| sys.exit() # end script | ||
|
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| ad.options.speed_pendown = 10 # set pen-down speed to slow | ||
| ad.update() # Process changes to options | ||
|
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| # Create a path that moves the turtle out of bounds and back: | ||
| # Default units are in inches. | ||
| vertex_list_1 = [[0,1], [1,1], [3,-1], [5,1]] | ||
|
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| print("Draw a path that takes us out of bounds and back:\n") | ||
| print("vertex list: " + str(vertex_list_1) + "\n") | ||
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| ad.draw_path(vertex_list_1) # Plot the path | ||
| print("Finished first vertex list, working in inch units. Final pen position:\n") | ||
| print_position() | ||
| print("Set cm units and repeat with same vertex list, but smaller:\n") | ||
|
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| ad.options.units = 1 # Switch to cm units | ||
| ad.update() # Process changes to options | ||
| ad.draw_path(vertex_list_1) # Plot the path | ||
| print_position() | ||
|
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| print("Set mm units and draw the same vertex list, even smaller:\n") | ||
|
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| ad.options.units = 2 # Switch to cm units | ||
| ad.update() # Process changes to options | ||
| ad.draw_path(vertex_list_1) # Plot the path | ||
| print_position() | ||
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| ad.options.units = 0 # Switch to inch units | ||
| ad.update() # Process changes to options | ||
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| print("Draw a path that takes us out of bounds:\n") | ||
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| vertex_list_1 = [[0,1], [1,1], [3,-1]] | ||
| print("vertex list: " + str(vertex_list_1) + "\n") | ||
|
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| ad.draw_path(vertex_list_1) # Plot the path | ||
|
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| print("Note that the turtle position and physical position do not agree:\n") | ||
| print_position() | ||
| time.sleep(1) | ||
|
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| print("Increase speed, draw a hexagon:\n") | ||
|
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| ad.options.speed_pendown = 20 # set pen-down speed to slow | ||
| ad.update() # Process changes to options | ||
|
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| vertex_list_2 = [] | ||
| CENTER_X = 1 | ||
| CENTER_Y = 2 | ||
| RADIUS = 1 | ||
| VERTICES = 6 | ||
|
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| for angle in range(VERTICES + 1): | ||
| x_position = CENTER_X + RADIUS * math.cos(math.tau * angle / VERTICES) | ||
| y_position = CENTER_Y + RADIUS * math.sin(math.tau * angle / VERTICES) | ||
| vertex_list_2.append([x_position, y_position]) | ||
|
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| ad.draw_path(vertex_list_2) # Plot the path | ||
|
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| print("Switching to mm units.\n") | ||
|
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| ad.options.units = 2 # Switch to mm units | ||
| ad.update() # Process changes to options | ||
|
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| print("Draw a circumscribed circle around the hexagon, with 120 segments:\n") | ||
|
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| vertex_list_3 = [] | ||
| CENTER_X = 25.4 | ||
| CENTER_Y = 50.8 | ||
| RADIUS = 25.4 | ||
| VERTICES = 120 | ||
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| for angle in range(VERTICES + 1): | ||
| x_position = CENTER_X + RADIUS * math.cos(math.tau * angle / VERTICES) | ||
| y_position = CENTER_Y + RADIUS * math.sin(math.tau * angle / VERTICES) | ||
| vertex_list_3.append([x_position, y_position]) | ||
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| ad.draw_path(vertex_list_3) # Plot the path | ||
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| print("Finally, draw some quick squiggles...\n") | ||
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| ad.options.speed_pendown = 50 # Turn up speed | ||
| ad.update() # Process changes to options | ||
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| vertex_list_4 = [] | ||
| VERTICES = 120 | ||
| START_X = 75 | ||
| START_Y = 50.8 | ||
| Y_RADIUS = 20 | ||
| X_RADIUS = 4 | ||
| VERTICES = 400 | ||
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| for vertex in range(VERTICES + 1): | ||
| x_position = START_X + vertex / 10 + X_RADIUS * math.sin(20 * math.tau * vertex / VERTICES) | ||
| y_position = START_Y + Y_RADIUS * math.sin(10 * math.tau * vertex / VERTICES) | ||
| vertex_list_4.append([x_position, y_position]) | ||
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| ad.draw_path(vertex_list_4) # Plot the path | ||
| print("And finish back at home.\n") | ||
| ad.moveto(0,0) # Pen-up return home | ||
|
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| ad.disconnect() # Close serial port to AxiDraw |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| #!/usr/bin/env python | ||
| # -*- encoding: utf-8 -#- | ||
|
|
||
| ''' | ||
| report_pos_inch.py | ||
| Run this demo by calling: python report_pos_inch.py | ||
| Prints X.XXX, Y.YYY, where | ||
| X.XXX is the current AxiDraw X position and | ||
| Y.YYY is the current AxiDraw Y position, in inch units. | ||
| Requires Python 3.6 or newer and the AxiDraw python API, version 3.2 or newer. | ||
| AxiDraw python API documentation is hosted at: https://axidraw.com/doc/py_api/ | ||
| About this software: | ||
| The AxiDraw writing and drawing machine is a product of Evil Mad Scientist | ||
| Laboratories. https://axidraw.com https://shop.evilmadscientist.com | ||
| This open source software is written and maintained by Evil Mad Scientist | ||
| to support AxiDraw users across a wide range of applications. Please help | ||
| support Evil Mad Scientist and open source software development by purchasing | ||
| genuine AxiDraw hardware. | ||
| AxiDraw software development is hosted at https://github.com/evil-mad/axidraw | ||
| Additional AxiDraw documentation is available at http://axidraw.com/docs | ||
| AxiDraw owners may request technical support for this software through our | ||
| github issues page, support forums, or by contacting us directly at: | ||
| https://shop.evilmadscientist.com/contact | ||
| Copyright 2022 Windell H. Oskay, Evil Mad Scientist Laboratories | ||
| The MIT License (MIT) | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ''' | ||
|
|
||
| from pyaxidraw import axidraw | ||
|
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| ad = axidraw.AxiDraw() # Initialize class | ||
| ad.interactive() | ||
| ad.connect() # Open USB serial session | ||
| if not ad.connected: | ||
| exit() | ||
|
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||
| result = ad.usb_query('QS\r') # Query global step position | ||
| result_list = result.strip().split(",") | ||
| a_pos, b_pos = int(result_list[0]), int(result_list[1]) | ||
|
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| x_pos_inch = (a_pos + b_pos) / (4 * ad.params.native_res_factor) | ||
| y_pos_inch = (a_pos - b_pos) / (4 * ad.params.native_res_factor) | ||
| if ad.options.resolution == 2: # Low-resolution mode | ||
| x_pos_inch *= 2 | ||
| y_pos_inch *= 2 | ||
|
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| print("{0:0.3f}, {1:0.3f}".format(x_pos_inch, y_pos_inch)) | ||
|
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| ad.disconnect() # Close serial port to AxiDraw |
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