-
Notifications
You must be signed in to change notification settings - Fork 11
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Evan Flynn <evanflynn.msu@gmail.com>
- Loading branch information
Showing
15 changed files
with
511 additions
and
637 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,68 +0,0 @@ | ||
# Copyright 2020 Evan Flynn | ||
# | ||
# 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. | ||
|
||
""" | ||
Functions to initialize the GRBL device. | ||
This code was ported over to ROS2 from picatostas: | ||
https://github.com/picatostas/cnc_interface | ||
Special thanks to his work and the work before him | ||
The grbl device class initialized here imports the other control, | ||
command, configure and logging files within this directory and takes | ||
a ROS2 node as an argument in order to seperate out the ROS2 specific | ||
code from the grbl device code. | ||
""" | ||
|
||
from ._command import command | ||
from ._configure import configure | ||
from ._control import control | ||
from ._logging import logging | ||
|
||
|
||
class grbl(control, command, configure, logging): | ||
"""Initializes the base grbl device class.""" | ||
|
||
def __init__(self, node): | ||
self.mode = self.MODE.NORMAL | ||
self.state = self.STATE.ALARM # initalize to alarm state for safety | ||
self.node = node # so we can pass info to ROS | ||
self.s = None # serial port object | ||
self.abs_move = None # GRBL has 2 movement modes: relative and absolute | ||
self.machine_id = 'cnc_000' | ||
self.baudrate = 0 | ||
self.port = '' | ||
self.acceleration = 0 | ||
self.x_max = 0 | ||
self.y_max = 0 | ||
self.z_max = 0 | ||
self.defaultSpeed = 0 | ||
self.x_max_speed = 0 | ||
self.y_max_speed = 0 | ||
self.z_max_speed = 0 | ||
self.x_steps_mm = 0 # number of steps per centimeter | ||
self.y_steps_mm = 0 # number of steps per centimeter | ||
self.z_steps_mm = 0 # number of steps per centimeter | ||
self.idle = True # machine is idle | ||
self.pos = [0.0, 0.0, 0.0] # current position [X, Y, Z] | ||
self.angular = [0.0, 0.0, 0.0, 0.0] # quaterion [X, Y, Z, W] | ||
self.origin = [0.0, 0.0, 0.0] # minimum coordinates [X, Y, Z] | ||
self.limits = [0.0, 0.0, 0.0] # maximum coordinates [X, Y, Z] | ||
This file was deleted.
Oops, something went wrong.
This file was deleted.
Oops, something went wrong.
Oops, something went wrong.