PRINTER-CODE.rar INCLUDE-MCUMAIN&-PRINTER-HELPER

import serial import math import time from tkinter import * from tkinter.filedialog import askopenfilename from tkinter import messagebox import cv2 import numpy as np import threading import inspect import ctypes import math # opencv部分可以改进 简化轮廓 # 解决tkinter卡死问题 ''' 通信格式说明: 波特率 9600 PC发送: 第0字节 xDir 第1字节 yDir 第2字节 zState 第3&4字节 xPS 第5&6字节 yPS 单片机发送: 0xff 表示打印完成 ''' # build serial global s try: s = serial.Serial('com3', 9600, timeout=0.5) except serial.serialutil.SerialException: print('串口未打开') # 参数设置 m = 5.9 # 臂长1(cm) n =5.8 # 臂长2(cm) MaxW = (2**0.5)*(m+n) # weight底cm MaxH = MaxW/2-0.1 # high 避开0 cm print('MAXW:', MaxW, ',', 'MAXH:', MaxH) global Q Q = 4096 # 默认值 # globals global w, new_thread, isb, osb, input, output, cv, menu, is_print_button, set_threshold, isCanny, CannyMin, CannyMax, iterations, fanse global mpx, npx fanse = False # iterations迭代次数 isCanny = True global contours global lst # list global isfinish, pos isfinish = False cishu = -1 # 发送开始标志时 也会有接收 global is_justshow is_justshow = False global buffer buffer = [] global motorA, motorB motorA, motorB = 0, 0 # 电机反馈角度 def readdata(): global isfinish, cishu, buffer while True: inputdata = s.read(1) if inputdata!=b'': print(inputdata[0]) # buffer.append(inputdata) # if len(buffer)==4:#接收4个数据完成,解析数据 # motorA= int.from_bytes(buffer[0],'big')<<8 + int.from_bytes(buffer[1],'big') # motorA=motorA/4096*(math.pi*2)#等价于motorA=motorA/4096*360*pi/180 已经转为弧度制角度 # motorB= int.from_bytes(buffer[2],'big')<<8 + int.from_bytes(buffer[3],'big') # motorB=motorB/4096*(math.pi*2) # print('电机反馈角度(360角度制):',motorA*180/math.pi,motorB*180/math.pi) # buffer=[]#buffer清零归位 # isfinish = True# 打印完成 # s.flushInput() if inputdata == b'\xff': # 打印完成 isfinish = True # 若发送0xff且坐标正确 # 清空缓存 防止次数误加 s.flushInput() cishu += 1 #print(inputdata) def stop_thread(thread): tid = thread.ident exctype = SystemExit tid = ctypes.c_long(tid) if not inspect.isclass(exctype): exctype = type(exctype) res = ctypes.pythonapi.PyThreadState_SetAsyncExc( tid, ctypes.py_object(exctype)) if res == 0: raise ValueError("invalid thread id") elif res != 1: ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None) raise SystemError("PyThreadState_SetAsyncExc failed") # define image img = [] # size setting canvasw = 256 canvash = 256 listboxw = 150 listboxh = 300 scrollbarw = 10 scrollbarh = listboxh # class pen class pen: x = 0 y = 0 alpha = 0 # rad beta =int(20*math.pi/180) Xangle = 0 Yangle =int(20/360*4096) # 可增加xanglenow... z = 0 # 状态 0:up 1:down deltaX, deltaY = 50, 50 # 原点偏移量 def __init__(self): global cv self.id1 = cv.create_line(0, 0, 0, 0) self.id2 = cv.create_line(0, 0, 0, 0) self.id3 = cv.create_line(0, 0, 0, 0) self.id4 = cv.create_line(0, 0, 0, 0) def up(self): self.z = 0 def drawline(self, x1, y1, x2, y2): return cv.create_line(x1+self.deltaX, -y1+self.deltaY, x2+self.deltaX, -y2+self.deltaY) def drawline2(self, x1, y1, x2, y2): #return cv.create_line(x1, -y1, x2, -y2, dash=True, fill='red') return cv.create_line(x1+self.deltaX, -y1+self.deltaY, x2+self.deltaX, -y2+self.deltaY, dash=True, fill='red') # return cv.create_line(x1,-y1,x2,-y2) def down(self): self.z = 180 # 180du def goto(self, pos): # pos是经典坐标系下！！ global MaxH, MaxW, mpx, npx, cv, MaxH_px, motorA, motorB, is_justshow, isfinish, Q coe = 350/(mpx+npx) if self.z == 180: self.drawline(self.x*coe, self.y*coe, pos[0]*coe, pos[1]*coe) # self.drawline(self.x*coe, self.y*coe,pos[0]*coe,pos[1]*coe)#显示所有轨迹 cv.delete(self.id1) cv.delete(self.id2) cv.delete(self.id3) cv.delete(self.id4) a, b = pos[0], pos[1] S = -((npx**2-a**2-b**2-mpx**2)/(2*b)) x = (2*S*a/b+math.sqrt((2*S*a/b)**2-4*(1+a**2/b**2) * (S**2-mpx**2)))/(2*(1+a**2/b**2)) y = S-a*x/b al = math.acos(x/mpx) if y >= 0 else -math.acos(x/mpx) # ((a-x)*(0-x)+(b-y)*(0-y))/( (a-x)**2+(b-y)**2 + (0-x)**2+(0-y)**2 )**0.5 be = math.acos((-(a-x)*x-(b-y)*y) / ((((a-x)**2+(b-y)**2) * (x**2+y**2))**0.5)) # virtual理论模拟 验证alpha&beta可行 self.id1 = self.drawline( 0, 0, mpx*math.cos(al)*coe, mpx*math.sin(al)*coe) self.id2 = self.drawline( mpx*math.cos(al)*coe, mpx*math.sin(al)*coe, (mpx*math.cos(al)+npx*math.cos(al-math.pi+be))*coe, (mpx*math.sin(al)+npx*math.sin(al-math.pi+be))*coe) drawpad.update() self.alpha, self.beta, self.x, self.y = al, be, a, b angle1 = (al/(2*math.pi)*Q) % Q # 取余操作 转为绝对坐标 angle1 = int(angle1) angle2 = (be/(2*math.pi)*Q) % Q angle2 = int(angle2)#杜绝眼花，严查改正 #angle模拟 self.id3 = self.drawline2( 0, 0, mpx*math.cos(angle1/Q*(2*math.pi))*coe, mpx*math.sin(angle1/Q*(2*math.pi))*coe) self.id4 = self.drawline2( mpx*math.cos(angle1/Q*2*math.pi)*coe, mpx*math.sin(angle1/Q*2*math.pi)*coe, (mpx*math.cos(angle1/Q*(2*math.pi))+npx*math.cos(angle1/Q*(2*math.pi)-math.pi+angle2/Q*(2*math.pi)))*coe, (mpx*math.sin(angle1/Q*(2*math.pi))+npx*math.sin(angle1/Q*(2*math.pi)-math.pi+angle2/Q*(2*math.pi)))*coe) drawpad.update() # 计算移动距离-x //注意！这里因与模拟不和，所以方向手动反向 注:未改 if Q < 2*abs(angle1-self.Xangle): # 劣弧 xdirection_tosend = 1 if self.Xangle >= angle1 else 0 xps_tosend = Q-abs(angle1-self.Xangle) else: xdirection_tosend = 0 if self.Xangle >= angle1 else 1 xps_tosend = abs(angle1-self.Xangle) # 计算移动距离-y if Q < 2*abs(angle2-self.Yangle): # 劣弧 ydirection_tosend = 1 if self.Yangle >= angle2 else 0 yps_tosend = Q-abs(angle2-self.Yangle) else: ydirection_tosend = 0 if self.Yangle >= angle2 else 1 yps_tosend = abs(angle2-self.Yangle) # update angle self.Xangle = angle1 self.Yangle = angle2 # send if is_justshow: pass else: print(xdirection_tosend, ydirection_tosend, self.z, 'xps_tosend(10)', xps_tosend, 'yps_tosend(10)', yps_tosend, '\n', 'xps_tosend(bin2)', bin(xps_tosend), 'yps_tosend(bin2)', bin(yps_tosend), '\n', 'xps_tosend(bytes)', bytes( [xps_tosend >> 8]), bytes([xps_tosend & 255]), 'yps_tosend(bytes)', bytes([yps_tosend >> 8]), bytes( [yps_tosend & 255]), '\n', ) if input('test(run 1 step_&send data)?') == '': # 逐步调试 s.write(bytes([xdirection_tosend])) s.write(bytes([ydirection_tosend]))