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Mar 31st, 2014
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  1. #!/usr/bin/python
  2.  
  3. import sys, io, time
  4. import gettext
  5. import linuxcnc, hal
  6.  
  7. # These libraries not found - copied from stdglue.py
  8. import emccanon
  9. from interpreter import *
  10.  
  11. h = None
  12.  
  13. # Magic numbers snooped from stdglue.py
  14. # TODO replace with proper imported references
  15. INTERP_ERROR = 5
  16. INTERP_OK = 0
  17.  
  18. rack_params = {
  19. "RACK_POSITION_X": 0,
  20. "RACK_POSITION_Y": 0,
  21. "POCKET_SEPARATION_X": 75,
  22. "POCKET_SEPARATION_Y": 75,
  23. "ROWS": 2,
  24. "COLUMNS": 7,
  25. "DROP_HEIGHT": -100,
  26. "GRAB_HEIGHT": -105,
  27. "PDB_CODE": "P2",
  28. "BLOW_CODE": "P1",
  29. "Z_RETRACT_SPEED": 2000
  30. }
  31.  
  32. def move_to_pocket(interpreter, pocket):
  33. pocket = int(pocket)
  34. print 'moving to pocket %i' % pocket
  35. x_pos = (pocket / rack_params["COLUMNS"])*rack_params["POCKET_SEPARATION_X"] + rack_params["RACK_POSITION_X"]
  36. y_pos = (pocket % rack_params["COLUMNS"])*rack_params["POCKET_SEPARATION_Y"] + rack_params["RACK_POSITION_Y"]
  37. print 'calculated coords %i, %i' % (x_pos, y_pos)
  38. interpreter.execute("G53 G1 X%i Y%i F%i" % (x_pos, y_pos, rack_params["Z_RETRACT_SPEED"]))
  39.  
  40.  
  41.  
  42. def drop_tool(interpreter, tool):
  43. print 'dropping tool %i' % tool
  44. move_to_pocket(intepreter, tool)
  45.  
  46. def pickup_tool(interpreter, tool):
  47. print 'picking up tool %i' % tool
  48. move_to_pocket(interpreter, tool)
  49.  
  50. # interpreter.execute("G53 G1 Z%i F%i" % (rack_params["DROP_HEIGHT"], rack_params["DROP_SPEED"]))
  51. # interpreter.execute("M64 %s" % (rack_params["PDB_COLD"]))
  52.  
  53. def setup_pins():
  54. global h
  55. h = hal.component("hal_racktoolchange")
  56. h.newpin("toolnumber", hal.HAL_S32, hal.HAL_IN)
  57. h.newpin("change", hal.HAL_BIT, hal.HAL_IN)
  58. h.newpin("changed", hal.HAL_BIT, hal.HAL_OUT)
  59. h.newpin("spindle_stopped", hal.HAL_BIT, hal.HAL_IN)
  60. h.newpin("tool_secure", hal.HAL_BIT, hal.HAL_IN)
  61. h.newpin("tool_released", hal.HAL_BIT, hal.HAL_IN)
  62. h.newpin("drawbar", hal.HAL_BIT, hal.HAL_OUT)
  63. h.newpin("blow", hal.HAL_BIT, hal.HAL_OUT)
  64. return h
  65.  
  66. def spindle_off(interpreter):
  67. print("turning spindle off")
  68. interpreter.execute("M5")
  69.  
  70. def quill_up(interpreter):
  71. print 'executing quill up'
  72. interpreter.execute("G53 G1 Z0 F%i" % rack_params["Z_RETRACT_SPEED"])
  73.  
  74. def toolchange(interpreter):
  75. # if interpreter.selected_pocket < 0:
  76. # interpreter.set_errormsg("M6: No tool prepared.")
  77. # return 0
  78.  
  79. spindle_off(interpreter)
  80. quill_up(interpreter)
  81.  
  82. current_pos = (interpreter.current_x, interpreter.current_y,interpreter.current_z)
  83. current_tool = interpreter.params["tool_in_spindle"]
  84. requested_tool = interpreter.params["selected_tool"]
  85. print current_pos, current_tool, requested_tool
  86. if current_tool >= 0:
  87. drop_tool(interpreter, current_tool)
  88. if(requested_tool >= 0):
  89. pickup_tool(interpreter, requested_tool)
  90. return 1
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