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import os
import time
class INI:
def __init__(self,app):
# access to:
self.d = app.d # collected data
global SIG
SIG = app._p # private data (signals names)
global _PD
_PD = app._p # private data
self.a = app # The parent, pncconf
def write_inifile(self, base):
filename = os.path.join(base, self.d.machinename + ".ini")
file = open(filename, "w")
print(_("# Generated by PNCconf at %s") % time.asctime(), file=file)
print(_("# Using LinuxCNC version: %s") % self.d.linuxcnc_version, file=file)
print(_("# If you make changes to this file, they will be"), file=file)
print(_("# overwritten when you run PNCconf again"), file=file)
print(file=file)
print("[EMC]", file=file)
print("MACHINE = %s" % self.d.machinename, file=file)
print("DEBUG = 0", file=file)
# the joints_axes conversion script named 'update_ini'
# will try to update for joints_axes if no VERSION is set
print("VERSION = 1.1", file=file)
print(file=file)
print("[DISPLAY]", file=file)
if self.d.frontend == _PD._AXIS:
print("DISPLAY = axis", file=file)
elif self.d.frontend == _PD._TKLINUXCNC:
print("DISPLAY = tklinuxcnc", file=file)
elif self.d.frontend == _PD._GMOCCAPY:
print("DISPLAY = gmoccapy", file=file)
elif self.d.frontend == _PD._TOUCHY:
print("DISPLAY = touchy", file=file)
elif self.d.frontend == _PD._QTDRAGON:
print("DISPLAY = qtvcp qtdragon", file=file)
print("PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref", file=file)
# qtplasmac has multiple screens
elif self.d.frontend == _PD._QTPLASMAC:
if self.d.qtplasmacscreen == 2:
screen = "qtplasmac_9x16"
elif self.d.qtplasmacscreen == 1:
screen = "qtplasmac_4x3"
else:
screen = "qtplasmac"
print("DISPLAY = qtvcp {}".format(screen), file=file)
if self.d.gladevcp:
theme = self.d.gladevcptheme
if theme == "Follow System Theme":theme = ""
else: theme = " -t "+theme
if self.d.frontend in(_PD._AXIS, _PD._TOUCHY):
if self.d.centerembededgvcp:
print("EMBED_TAB_NAME = GladeVCP", file=file)
print("EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp%s -H gvcp_call_list.hal -x {XID} gvcp-panel.ui"%(theme), file=file)
elif self.d.sideembededgvcp:
print("GLADEVCP =%s -H gvcp_call_list.hal gvcp-panel.ui"%(theme), file=file)
elif self.d.frontend == _PD._GMOCCAPY:
if self.d.centerembededgvcp:
print("EMBED_TAB_NAME = Center_panel", file=file)
print("EMBED_TAB_LOCATION = ntb_preview", file=file)
elif self.d.sideembededgvcp:
print("EMBED_TAB_NAME = Right Panel", file=file)
print("EMBED_TAB_LOCATION = box_right", file=file)
else:
print("EMBED_TAB_NAME = User Panel", file=file)
print("EMBED_TAB_LOCATION = ntb_user_tabs", file=file)
print("EMBED_TAB_COMMAND = gladevcp -c gladevcp %s -H gvcp_call_list.hal -x {XID} gvcp-panel.ui"%(theme), file=file)
if self.d.position_offset == 1: temp ="RELATIVE"
else: temp = "MACHINE"
print("POSITION_OFFSET = %s"% temp, file=file)
if self.d.position_feedback == 1: temp ="ACTUAL"
else: temp = "COMMANDED"
print("POSITION_FEEDBACK = %s"% temp, file=file)
print("MAX_FEED_OVERRIDE = %f"% self.d.max_feed_override, file=file)
if self.d.frontend == _PD._QTDRAGON:
print("MAX_SPINDLE_0_OVERRIDE = %f"% self.d.max_spindle_override, file=file)
print("MIN_SPINDLE_0_OVERRIDE = %f"% self.d.min_spindle_override, file=file)
print("DEFAULT_SPINDLE_0_SPEED = 500", file=file)
print("MIN_SPINDLE_0_SPEED = 100", file=file)
print("MAX_SPINDLE_0_SPEED = 2500", file=file)
# qtplasmac doesn't use spindle override
elif self.d.frontend != _PD._QTPLASMAC:
print("MAX_SPINDLE_OVERRIDE = %f"% self.d.max_spindle_override, file=file)
print("MIN_SPINDLE_OVERRIDE = %f"% self.d.min_spindle_override, file=file)
print("INTRO_GRAPHIC = linuxcnc.gif", file=file)
print("INTRO_TIME = 5", file=file)
print("PROGRAM_PREFIX = %s" % \
os.path.expanduser("~/linuxcnc/nc_files"), file=file)
if self.d.pyvcp:
print("PYVCP = pyvcp-panel.xml", file=file)
# these are for AXIS GUI and QtPlasmaC
if self.d.units == _PD._METRIC:
if self.d.frontend == _PD._QTPLASMAC:
print("INCREMENTS = %s"% self.d.increments_metric_qtplasmac, file=file)
else:
print("INCREMENTS = %s"% self.d.increments_metric, file=file)
else:
if self.d.frontend == _PD._QTPLASMAC:
print("INCREMENTS = %s"% self.d.increments_imperial_qtplasmac, file=file)
else:
print("INCREMENTS = %s"% self.d.increments_imperial, file=file)
if self.d.axes == 2:
print("LATHE = 1", file=file)
print("POSITION_FEEDBACK = %s"% temp, file=file)
print("DEFAULT_LINEAR_VELOCITY = %f"% self.d.default_linear_velocity, file=file)
print("MAX_LINEAR_VELOCITY = %f"% self.d.max_linear_velocity, file=file)
print("MIN_LINEAR_VELOCITY = %f"% self.d.min_linear_velocity, file=file)
print("DEFAULT_ANGULAR_VELOCITY = %f"% self.d.default_angular_velocity, file=file)
print("MAX_ANGULAR_VELOCITY = %f"% self.d.max_angular_velocity, file=file)
print("MIN_ANGULAR_VELOCITY = %f"% self.d.min_angular_velocity, file=file)
# qtplasmac has internal editor
if self.d.frontend != _PD._QTPLASMAC:
print("EDITOR = %s"% self.d.editor, file=file)
print("GEOMETRY = %s"% self.d.geometry, file=file)
print("CYCLE_TIME = 100", file=file)
# set up MDI macro buttons
if self.d.frontend == _PD._QTDRAGON:
print(file=file)
print("[MDI_COMMAND_LIST]", file=file)
print("MDI_COMMAND = G0 Z0;X0 Y0", file=file)
print("MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0", file=file)
print(file=file)
print("[FILTER]", file=file)
# qtplasmac has a different filter section
if self.d.frontend == _PD._QTPLASMAC:
print("PROGRAM_EXTENSION = .ngc,.nc,.tap GCode File (*.ngc, *.nc, *.tap)", file=file)
print("ngc = qtplasmac_gcode", file=file)
print("nc = qtplasmac_gcode", file=file)
print("tap = qtplasmac_gcode", file=file)
else:
print("PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image", file=file)
print("PROGRAM_EXTENSION = .py Python Script", file=file)
print("png = image-to-gcode", file=file)
print("gif = image-to-gcode", file=file)
print("jpg = image-to-gcode", file=file)
print("py = python", file=file)
print(file=file)
print("[TASK]", file=file)
print("TASK = milltask", file=file)
print("CYCLE_TIME = 0.010", file=file)
print(file=file)
print("[RS274NGC]", file=file)
print("PARAMETER_FILE = linuxcnc.var", file=file)
# qtplasmac has extra rs274ngc variables
if self.d.frontend == _PD._QTPLASMAC:
code = 21 if self.d.units == _PD._METRIC else 20
print("RS274NGC_STARTUP_CODE = G{} G40 G49 G80 G90 G92.1 G94 G97 M52P1".format(code), file=file)
print("SUBROUTINE_PATH = ./:../../nc_files", file=file)
print("USER_M_PATH = ./:../../nc_files", file=file)
print("", file=file)
else:
if self.d.units == _PD._METRIC:
unit = 21
p = .025
else:
unit = 20
p =.001
print ("RS274NGC_STARTUP_CODE = G{} G40 G90 G94 G97 G64 P{}".format(unit,p), file=file)
#base_period = self.d.ideal_period()
print(file=file)
print("[EMCMOT]", file=file)
print("EMCMOT = motmod", file=file)
print("COMM_TIMEOUT = 1.0", file=file)
#print("BASE_PERIOD = %d" % self.d.baseperiod, file=file)
print("SERVO_PERIOD = %d" % self.d.servoperiod, file=file)
print(file=file)
print("[HMOT]", file=file)
if not self.d.useinisubstitution:
print(_("# **** This is for info only ****"), file=file)
print("CARD0=hm2_%s.0"% self.d.mesa0_currentfirmwaredata[_PD._BOARDNAME], file=file)
if self.d.number_mesa == 2:
for boardnum in range(0,int(self.d.number_mesa)):
if boardnum == 1 and (self.d.mesa0_currentfirmwaredata[_PD._BOARDNAME] == self.d.mesa1_currentfirmwaredata[_PD._BOARDNAME]):
halnum = 1
else:
halnum = 0
print(file, "CARD1=hm2_%s.%d"% (self.d.mesa1_currentfirmwaredata[_PD._BOARDNAME], halnum), file=file)
if self.d._substitution_list:
print(_("# These are to ease setting custom component's parameters in a custom HAL file"), file=file)
print(file=file)
for i,temp in enumerate(self.d._substitution_list):
a,b = self.d._substitution_list[i]
if a =="":
print(file=file)
else:
print("%s=%s"%(a,b), file=file)
print(file=file)
print("[HAL]", file=file)
print("HALUI = halui", file=file)
print("HALFILE = %s.hal" % self.d.machinename, file=file)
# qtplasmac requires the qtplasmac_comp file to connect the plasmac component
if self.d.frontend == _PD._QTPLASMAC:
print("HALFILE = qtplasmac_comp.hal", file=file)
print("HALFILE = custom.hal", file=file)
if self.d.pyvcp and self.d.pyvcphaltype == 1 and self.d.pyvcpconnect:
print("POSTGUI_HALFILE = pyvcp_options.hal", file=file)
if self.d.serial_vfd:
if self.d.gs2_vfd:
print("POSTGUI_HALFILE = gs2_vfd.hal", file=file)
if self.d.mitsub_vfd:
print("POSTGUI_HALFILE = mitsub_vfd.hal", file=file)
if self.d.toolchangeprompt:
if self.d.frontend == _PD._QTDRAGON:
print("POSTGUI_HALFILE = qtvcp_postgui.hal", file=file)
elif self.d.frontend == _PD._GMOCCAPY:
print("POSTGUI_HALFILE = gmoccapy_postgui.hal", file=file)
print("POSTGUI_HALFILE = custom_postgui.hal", file=file)
print("SHUTDOWN = shutdown.hal", file=file)
print(file=file)
print("[HALUI]", file=file)
if self.d.halui == True:
for i in range(0,15):
cmd =self.d["halui_cmd" + str(i)]
if cmd =="": break
print("MDI_COMMAND = %s"% cmd, file=file)
# Build axis/joints info
# add X axis
num_joints = 1; coords = "X"; tandemflag = False
tandemjoint = self.a.tandem_check('x')
print('tandem:',tandemjoint)
if tandemjoint:
#add tandem to X
tandemflag = True
num_joints += 1
coords += 'X'
if self.d.axes in (0,1): # xyz or xyyza
# add Y axis
num_joints += 1
coords += 'Y'
tandemjoint = self.a.tandem_check('y')
if tandemjoint:
#add tandem to Y
tandemflag = True
num_joints += 1
coords += 'Y'
# add Z axis
num_joints += 1
coords += 'Z'
tandemjoint = self.a.tandem_check('z')
if tandemjoint:
tandemflag = True
num_joints += 1
coords += 'Z'
if self.d.axes == 1: # for xyza
# add A axis
num_joints += 1
coords += 'A'
tandemjoint = self.a.tandem_check('a')
if tandemjoint:
# add tandem to A
tandemflag = True
num_joints += 1
coords += 'A'
if not self.d.axes in (0,1,2):
print("___________________unknown self.d.axes",self.d.axes)
return
print(file=file)
print("[KINS]", file=file)
# trivial kinematics: no. of joints == no.of axes)
# with trivkins, axes do not have to be consecutive
print("JOINTS = %d"%num_joints, file=file)
if tandemflag and self.d.frontend != _PD._QTPLASMAC:
print("KINEMATICS = trivkins coordinates=%s kinstype=BOTH"%coords.replace(" ",""), file=file)
else:
print("KINEMATICS = trivkins coordinates=%s"%coords.replace(" ",""), file=file)
print(file=file)
print("[TRAJ]", file=file)
# qtplasmac requires 3 spindles
if self.d.frontend == _PD._QTPLASMAC:
print("SPINDLES = 3", file=file)
print("COORDINATES = ",coords, file=file)
if self.d.axes == 1:
print("MAX_ANGULAR_VELOCITY = %.2f" % self.d.amaxvel, file=file)
defvel = min(60, self.d.amaxvel/10.)
print("DEFAULT_ANGULAR_VELOCITY = %.2f" % defvel, file=file)
if self.d.units == _PD._METRIC:
print("LINEAR_UNITS = mm", file=file)
else:
print("LINEAR_UNITS = inch", file=file)
print("ANGULAR_UNITS = degree", file=file)
if self.d.axes == 2:
maxvel = max(self.d.xmaxvel, self.d.zmaxvel)
else:
maxvel = max(self.d.xmaxvel, self.d.ymaxvel, self.d.zmaxvel)
hypotvel = (self.d.xmaxvel**2 + self.d.ymaxvel**2 + self.d.zmaxvel**2) **.5
defvel = min(maxvel, max(.1, maxvel/10.))
print("DEFAULT_LINEAR_VELOCITY = %.2f" % defvel, file=file)
print("MAX_LINEAR_VELOCITY = %.2f" % maxvel, file=file)
if self.d.restore_joint_position:
print("POSITION_FILE = position.txt", file=file)
if not self.d.require_homing:
print("NO_FORCE_HOMING = 1", file=file)
print(file=file)
print("[EMCIO]", file=file)
print("EMCIO = io", file=file)
print("CYCLE_TIME = 0.100", file=file)
print("TOOL_TABLE = tool.tbl", file=file)
# qtplasmac doesn't require these
if self.d.frontend != _PD._QTPLASMAC:
if self.d.allow_spindle_on_toolchange:
print("TOOL_CHANGE_WITH_SPINDLE_ON = 1", file=file)
if self.d.raise_z_on_toolchange:
print("TOOL_CHANGE_QUILL_UP = 1", file=file)
if self.d.random_toolchanger:
print("RANDOM_TOOLCHANGER = 1", file=file)
all_homes = bool(self.a.home_sig("x") and self.a.home_sig("z"))
if self.d.axes in (0,1): all_homes = bool(all_homes and self.a.home_sig("y"))
# A axis usually doesn't have home switches
#if self.d.axes == 1: all_homes = all_homes and self.a.home_sig("a")
##############################################################
# build axis/joint info
##############################################################
# self.d.axes:
# 0 = xyz
# 1 = xz
# 2 = xyza
# todo: simplify hardcoding for trivkins sequential joint no.s
jnum = 0
# Always X AXIS
self.write_one_axis(file, 'x')
tandemjoint = self.a.tandem_check('x')
self.write_one_joint(file, 0, "x", "LINEAR", all_homes, tandemjoint)
if tandemjoint:
jnum += 1
self.write_one_joint(file, jnum, "x", "LINEAR", all_homes, True, ismain = False)
jnum += 1
print("#******************************************", file=file)
# Maybe add Y AXIS
if self.d.axes in(0,1): # xyz or xyza
self.write_one_axis(file, 'y')
tandemjoint = self.a.tandem_check('y')
self.write_one_joint(file, jnum, "y", "LINEAR", all_homes, tandemjoint)
if tandemjoint:
jnum += 1
self.write_one_joint(file, jnum, "y", "LINEAR", all_homes, True, ismain = False)
jnum += 1
print("#******************************************", file=file)
# Always add Z AXIS
self.write_one_axis(file, 'z')
tandemjoint = self.a.tandem_check('z')
self.write_one_joint(file, jnum, "z", "LINEAR", all_homes, tandemjoint)
if tandemjoint:
jnum += 1
self.write_one_joint(file, jnum, "z", "LINEAR", all_homes, True, ismain = False)
jnum += 1
print("#******************************************", file=file)
# Maybe add A AXIS
if self.d.axes == 1: # xyza
self.write_one_axis(file, 'a')
tandemjoint = self.a.tandem_check('a')
self.write_one_joint(file, jnum, "a", "ANGULAR", all_homes, tandemjoint)
if tandemjoint:
jnum += 1
self.write_one_joint(file, jnum, "a", "ANGULAR", all_homes, True, ismain = False)
jnum += 1
print("#******************************************", file=file)
# usually add SPINDLE except for qtplasmac
if self.d.include_spindle and self.d.frontend != _PD._QTPLASMAC:
self.write_one_joint(file, 9, "s", "null", all_homes, False)
file.close()
self.d.add_md5sum(filename)
def write_one_joint(self, file, num, letter, type, all_homes, tandemflag, ismain = True):
def get(s): return self.d[letter + s]
pwmgen = self.a.pwmgen_sig(letter)
tppwmgen = self.a.tppwmgen_sig(letter)
stepgen = self.a.stepgen_sig(letter)
encoder = self.a.encoder_sig(letter)
resolver = self.a.resolver_sig(letter)
potoutput = self.a.potoutput_sig(letter)
closedloop = False
if stepgen and (encoder or resolver): closedloop = True
if (encoder or resolver) and (pwmgen or tppwmgen) : closedloop = True
if closedloop and letter == "s": closedloop = False
#print("INI ",letter + " is closedloop? "+ str(closedloop),encoder,pwmgen,tppwmgen,stepgen)
print(file=file)
if letter == 's':
print("[SPINDLE_%d]" % 0, file=file)
else:
print("[JOINT_%d]" % num, file=file)
print("TYPE = %s" % type, file=file)
print("HOME = %s" % get("homepos"), file=file)
print("FERROR = %s"% get("maxferror"), file=file)
print("MIN_FERROR = %s" % get("minferror"), file=file)
if not letter == "s" or (letter == "s" and stepgen):
print("MAX_VELOCITY = %s" % get("maxvel"), file=file)
print("MAX_ACCELERATION = %s" % get("maxacc"), file=file)
if stepgen:
print(_("# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION"), file=file)
print(_("# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger."), file=file)
if get("usecomp") or get("usebacklash"):
factor = 2.0
else:
factor = 1.25
print("STEPGEN_MAXVEL = %.2f" % (float(get("maxvel")) * factor), file=file)
print("STEPGEN_MAXACCEL = %.2f" % (float(get("maxacc")) * factor), file=file)
print("P = %s" % get("P"), file=file)
print("I = %s" % get("I"), file=file)
print("D = %s" % get("D"), file=file)
print("FF0 = %s" % get("FF0"), file=file)
print("FF1 = %s" % get("FF1"), file=file)
print("FF2 = %s" % get("FF2"), file=file)
print("BIAS = %s"% get("bias"), file=file)
print("DEADBAND = %s"% get("deadband"), file=file)
print("MAX_OUTPUT = %s" % get("maxoutput"), file=file)
if encoder or resolver:
if get("invertencoder"):
temp = -1
else: temp = 1
if encoder:
print("ENCODER_SCALE = %s" % (get("encoderscale") * temp), file=file)
else:
print("RESOLVER_SCALE = %s" % (get("encoderscale") * temp), file=file)
if pwmgen or potoutput:
if get("invertmotor"):
temp = -1
else: temp = 1
if letter == 's':
if self.d.susenegativevoltage:
min_voltage_factor = -1
else:
min_voltage_factor = 0 # dont output negative voltages
max_voltage_factor = 10.0/self.d.soutputmaxvoltage # voltagelimit
if self.d.suseoutputrange2:
scale = 1 # we scale the multiple ranges in the HAL file
else:
scale = self.d.soutputscale # we scale to the max RPM
print("OUTPUT_SCALE = %s"% ( int(max_voltage_factor * scale * temp) ), file=file)
print("OUTPUT_MIN_LIMIT = %s"% ( int(min_voltage_factor * scale) ), file=file)
print("OUTPUT_MAX_LIMIT = %s"% ( int(scale) ), file=file)
print(file=file)
else:
print("OUTPUT_SCALE = %s" % (get("outputscale") * temp), file=file)
pwmpinname = self.a.make_pinname(pwmgen)
if (pwmgen and "analog" in pwmpinname) or potoutput:
print("OUTPUT_MIN_LIMIT = %s"% (get("outputminlimit")), file=file)
print("OUTPUT_MAX_LIMIT = %s"% (get("outputmaxlimit")), file=file)
if stepgen:
print(_("# these are in nanoseconds"), file=file)
print("DIRSETUP = %d"% int(get("dirsetup")), file=file)
print("DIRHOLD = %d"% int(get("dirhold")), file=file)
print("STEPLEN = %d"% int(get("steptime")), file=file)
print("STEPSPACE = %d"% int(get("stepspace")), file=file)
if get("invertmotor"):
temp = -1
else: temp = 1
print("STEP_SCALE = %s"% (get("stepscale") * temp), file=file)
if letter == 's':return
if get("usecomp"):
print("COMP_FILE = %s" % get("compfilename"), file=file)
print("COMP_FILE_TYPE = %s" % get("comptype"), file=file)
if get("usebacklash"):
print("BACKLASH = %s" % get("backlash"), file=file)
minlim, maxlim = self.find_limits(letter)
print("MIN_LIMIT = %s" % minlim, file=file)
print("MAX_LIMIT = %s" % maxlim, file=file)
thisaxishome = set(("all-limit-home", "all-home", "home-" + letter, "min-home-" + letter, "max-home-" + letter, "both-home-" + letter))
ignore = set(("min-home-" + letter, "max-home-" + letter, "both-home-" + letter, "all-limit-home"))
share = set(("all-limit-home", "all-home"))
homes = False
for i in thisaxishome:
if self.a.findsignal(i): homes = True
# set homing speeds and directions
# search direction : True = positive direction
# latch direction : True = opposite direction
if homes:
searchvel = abs(get("homesearchvel"))
latchvel = abs(get("homelatchvel"))
#print(get("searchdir"))
if get("searchdir") == 0:
searchvel = -searchvel
if get("latchdir") == 0:
latchvel = -latchvel
else:
if get("latchdir") == 1:
latchvel = -latchvel
if ismain:
print("HOME_OFFSET = %f" % get("homesw"), file=file)
else:
print("HOME_OFFSET = %f" % get("hometandemsw"), file=file)
print("HOME_SEARCH_VEL = %f" % searchvel, file=file)
print("HOME_LATCH_VEL = %f" % latchvel, file=file)
print("HOME_FINAL_VEL = %f" % get("homefinalvel"), file=file)
if get("usehomeindex"):useindex = "YES"
else: useindex = "NO"
print("HOME_USE_INDEX = %s" % useindex, file=file)
for i in ignore:
if self.a.findsignal(i):
print("HOME_IGNORE_LIMITS = YES", file=file)
break
for i in share:
if self.a.findsignal(i):
print("HOME_IS_SHARED = 1", file=file)
break
else:
print("HOME_OFFSET = %s" % get("homepos"), file=file)
# if user doesn't request manual individual homing, add the sequence number:
if not self.d.individual_homing:
seqnum = int(get("homesequence"))
# if a tandem joint we wish to finish the home sequence together
if tandemflag: wait ='-'
else: wait = ''
print("HOME_SEQUENCE = %s%d" % (wait,seqnum), file=file)
def write_one_axis(self, file, letter):
# For KINEMATICS_IDENTITY:
# use axis MIN,MAX values identical corresponding joint values
def get(s): return self.d[letter + s]
minlim, maxlim = self.find_limits(letter)
if not letter == "s":
axis_letter = letter.upper()
print(file=file)
print("#******************************************", file=file)
print("[AXIS_%s]" % axis_letter, file=file)
# qtplasmac requires double vel & acc to use eoffsets correctly
if self.d.frontend == _PD._QTPLASMAC:
print(_("# MAX_VEL & MAX_ACC need to be twice the corresponding joint value"), file=file)
print("MAX_VELOCITY = %s" % (get("maxvel") * 2), file=file)
print("MAX_ACCELERATION = %s" % (get("maxacc") * 2), file=file)
print("OFFSET_AV_RATIO = 0.5", file=file)
else:
print("MAX_VELOCITY = %s" % get("maxvel"), file=file)
print("MAX_ACCELERATION = %s" % get("maxacc"), file=file)
print("MIN_LIMIT = %s" % minlim, file=file)
print("MAX_LIMIT = %s" % maxlim, file=file)
# linuxcnc doesn't like having home right on an end of travel,
# so extend the travel limit by up to .001in or .01mm
def find_limits(self, letter):
def get(s): return self.d[letter + s]
minlim = -abs(get("minlim"))
maxlim = get("maxlim")
home = get("homepos")
extend = 0.01 if self.d.units == _PD._METRIC else 0.001
if minlim == home:
minlim = minlim - extend
elif maxlim == home:
maxlim = maxlim + extend
return (minlim, maxlim)
# BOILER CODE
def __getitem__(self, item):
return getattr(self, item)
def __setitem__(self, item, value):
return setattr(self, item, value)
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