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Wednesday, September 24. 2008
This is version 0.1 of my reprap controller. I don't have much time to work on in so I'll publish it in a non-finished state (then again, what is 'finished'?). It still needs an open minicom session with the appropriate settings. I can make stty do this, but it works for me right now...
[edit] This work is now documented Here, at the RepRap Builders Wiki[/edit]
#!/usr/bin/php -q
<?php
/* ------------------------------------------------------------
// dotG 2 GCode
// By Erik de Bruijn, september 2008
//
// this script parses cam.py's .g files and pre-processes them
// for .gcode files that run on RepRap Generation 2 electro-
// nics with the GCode firmware.
//
// Depends on php5-cli (ubuntu/debian: apt-get install php5-cli)
// Licence: GPLv3
// See http://www.gnu.org/licenses/gpl.txt
// When distributing it, please include a copy of the licence.
----------------------------------------------------------*/
// todo: add ; in front of lines than can be skipped.
if(!isset($argv[2])) die("dotG2Gcode v0.1 - by Erik de Bruijn
Usage:
1. Make a .g file with MIT's cam.py
Process a file:
$argv[0] convert inputfile.g outputfile.gcode
Control the machine interactively line-by-line:
$argv[0] i[nteractive] [inputfile.g]
");
$fdata = file($argv[2]);
foreach($fdata as $line)
{
if(trim($line)=='%') continue; // start & end notice... don't send
if(!strlen(trim($line))) continue; // remove blank lines
if(trim($line)=='O1234') continue;
if($line{0}=='%') continue;
if(ereg("G([0-9]+)[^0-9]",$line,$gcode))
{
//echo "G code: ".$gcode[1];
switch($gcode[1])
{
// case 90: continue; break;
}
}
if($line{0}=='G') $out[]=trim($line)."\n";
if($line{0}=='M') $out[]=trim($line)."\n";
if($line{0}=='X') $out[]="G1".trim($line)."\n";
}
if(($argv[1]=='convert') || ($argv[1]{0}=='c'))
{
$fileout = implode('',$out);
file_put_contents($argv[3],$fileout);
}
$commands = array(
'Quit'=>array('do'=>'quit','desc'=>'Exit the program.','aliasses'=>'Exit'),
'Help'=>array('do'=>'help','desc'=>'Show this help.'),
'Speed'=>array('do'=>'speed','desc'=>'Change G1 movement speeds'),
'History'=>array('do'=>'history','desc'=>'Show the history of commands'),
'Home'=>array('do'=>'home','desc'=>'Go to home position (G1X0Y0Z0)'),
'helpg'=>array('do'=>'helpg','desc'=>'Explanation of G codes'),
'absolute'=>array('do'=>'absolute','desc'=>'Absolute positioning (G90)'),
'relative'=>array('do'=>'relative','desc'=>'Relative positioning (G91)'),
'newhome'=>array('do'=>'newhome','desc'=>'Make this the new home (G92)'),
'fan_on'=>array('do'=>'fan_on','desc'=>'Turn on the cooler fan (M106)'),
'fan_off'=>array('do'=>'fan_off','desc'=>'Turn on the cooler fan (M107)'),
'spindle_on'=>array('do'=>'fan_on','desc'=>'Turn on the spindle (M106)'),
'spindle_off'=>array('do'=>'fan_off','desc'=>'Turn on the spindle (M107)'),
'unit_mm'=>array('do'=>'unit_mm','desc'=>'Make the milimeter the basic unit (G21)'),
'unit_inch'=>array('do'=>'unit_mm','desc'=>'Make the milimeter the basic unit (G20)'),
);
foreach($commands as $myac=>$bla)
{
$myAutoComplete[]='/'.strtolower($myac);
}
// $myAutoComplete[]='';
readline_completion_function('autoComplete');
if(($argv[1]=='interactive') || ($argv[1]{0}=='i'))
{
echo " __
_| | __ | | / __|
/ ` |/ | _| |
| (| | () | || || |
_,|__/ _|__|\n";
echo "----INTERACTIVE MODE----\nCommands start with '/'. /h is help! Tab to autocomplete\n";
$dev = "/dev/ttyUSB0";
$reprap= new RepRap($dev);
$reprap->gcode("G21\n");
$unit = 'mm';
$linenr = 0;
$fp = fopen($dev,'r');
// stty ispeed 19200 ospeed 19200 cs8 raw -echo -parenb -cstopb onlcr < $port
// if(!is_writable($dev)) echo "Warning: Device $dev is not writable.\n";
$G='';
while(!$abort)
{
$prompt = ".G$G: ";
$cmd = readline($prompt);
if(($cmd!='n')&&($cmd!='r')&&($cmd!='p'))
readline_add_history($cmd);
list($do,$args) = parseCmd($cmd);
if($cmd=='n')
{
if($linenr==count($out)) echo "This was the last line.\n";
else {
$linenr++;
$line = $out[$linenr-1];
echo "Line $linenr: $line";
readline_add_history($line);
}
}
if($cmd=='p')
{
if($linenr==1) echo "This is the first line.\n";
else {
$linenr--;
$line = $out[$linenr-1];
echo "Line $linenr: $line";
readline_add_history($line);
}
}
if($cmd=='r')
{
$args = $out[$linenr-1];
if($linenr==count($out)) echo "This was the last line.\n";
else {
$linenr++;
$line = $out[$linenr-1];
echo "Next $linenr: $line";
}
}
switch ($do)
{
case "quit":
fclose($fp);
exit(0);
case "help":
foreach($commands as $aKey => $aCommand)
echo " $aKey\t$aCommand[desc]\n";
break;
case "helpg":
foreach($commands as $aKey => $aCommand)
echo " $aKey\t$aCommand[desc]\n";
break;
case "gcode":
if(ereg("G([0-9]+)[^0-9]?.*$",$args,$regs))
$G=$regs[1];
echo "GCode: ".$args."\n";
$reprap->gcode($args);
break;
case "absolute": $reprap->gcode("G90\n"); break;
case "relative": $reprap->gcode("G91\n"); break;
case "newhome": $reprap->gcode("G92\n"); break;
case "fan_on": $reprap->gcode("M106\n"); break;
case "fan_off": $reprap->gcode("M107\n"); break;
case "unit_inch": $reprap->gcode("G20\n"); $unit = 'inch'; break;
case "unit_mm": $reprap->gcode("G21\n"); $unit = 'mm'; break;
case "home":
$args='G1X0Y0Z0';
echo "GCode: ".$args."\n";
$reprap->gcode($args);
break;
case "speed":
if($unit == 'mm')
$speed = 10.0*doubleval(readline("XY Speed (2.5-80 cm/s): "));//25 - 800 mm/s
else
$speed = doubleval(readline("XY Speed (1-30): "));
$reprap->setG1speedXY($speed);
if($unit == 'mm')
$speed = 10.0*doubleval(readline("Z Speed (0.25-1.5 mm/s): "));
else
$speed = doubleval(readline("Z Speed (0.01-0.50): "));
$reprap->setG1speedZ($speed);
// echo "Result: ".fgets($fp)."\n";
break;
}
}
}
function parseCmd($theCommand)
{
global $commands;
if(ereg("^/(([a-z])[a-z]*) (.*)$",strtolower($theCommand).' ',$regs))
{
$firstChar = $regs[2];
$cmd = $regs[1];
$args = trim($regs[3]);
foreach($commands as $aCommand=>$cmd_props)
{
$aCommand=strtolower($aCommand);
if($cmd==$aCommand)
{
$do=$cmd_props['do'];
break;
}
if((strlen($cmd)==1) && ($aCommand{0}==$cmd))
{
$do=$cmd_props['do'];
break;
}
}
if(!isset($do))
echo "Command '$cmd' not recognized.\n";
return array($do,$args);
}
return array('gcode',$theCommand);
}
function autoComplete($partial)
{
global $myAutoComplete;
return $myAutoComplete;
}
class RepRap {
function RepRap($dev)
{
$this->changeDev($dev);
// $this->g1speedZ
// var $this->g1speedXY = null;
}
function changeDev($dev)
{
if(file_exists($dev))
$this->dev=$dev;
if(file_exists("/dev/".$dev))
$this->dev="/dev/".$dev;
}
function setG1speedXY($speed)
{
$this->g1speedXY = $speed;
}
function setG1speedZ($speed)
{
$this->g1speedZ = $speed;
}
function gcode($str)
{
if((substr($str,0,2) == 'G1') && (!strpos($str,"F")))
{
if(strpos($str,'Z'))
$str = trim($str).'F'.$this->g1speedZ."\n";
else
$str = trim($str).'F'.$this->g1speedXY."\n";
}
$safe_args = escapeshellarg($str);
$dev = escapeshellarg($this->dev);
`echo $safe_args >> $dev`;
}
}
?>
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[RepRap] My interactive RepRap ... Posted by Erik de Bruijn
in RepRap at
11:04