Delta机器人3D打印机。_Python_下载.zip

#!/usr/bin/python # # Convert G-code from slic3r to deltacode for Rostock 3D printer. # # Deltacode is similar to G-code but with delta geometry for X Y Z. # Straight lines in G-code are translated to parabolic curves in # deltacode. These curves are made from many small linear G1 # moves. This may double the size of the G-code file. In the future # this translation will be implemented in firmware so we can send # normal G-code to the delta bot. __author__ = 'johann@rocholl.net' CENTER = {'X': 100, 'Y': 100} import math import sys class Vector(object): def __init__(self, x, y, z): self.x = x self.y = y self.z = z def __abs__(self): return math.sqrt(self.x * self.x + self.y * self.y + self.z * self.z) def __add__(self, other): return Vector(self.x + other.x, self.y + other.y, self.z + other.z) def __sub__(self, other): return Vector(self.x - other.x, self.y - other.y, self.z - other.z) def __mul__(self, factor): return Vector(self.x * factor, self.y * factor, self.z * factor) def gcode(self): return 'X%.8g Y%.8g Z%.8g' % (self.x, self.y, self.z) SIN_60 = math.sin(math.pi / 3) COS_60 = 0.5 RADIUS = 175 - 33 - 18 # Horizontal distance of diagonal rods when centered. ZERO_OFFSET = -9 # Print surface is lower than bottom endstops. TOWER_1 = Vector(-SIN_60 * RADIUS, -COS_60*RADIUS, 0) TOWER_2 = Vector(SIN_60 * RADIUS, -COS_60*RADIUS, 0) TOWER_3 = Vector(0, RADIUS, 0) def delta(v): t1 = TOWER_1 - v t2 = TOWER_2 - v t3 = TOWER_3 - v return Vector( v.z + math.sqrt(250*250 - t1.x*t1.x - t1.y*t1.y) + ZERO_OFFSET, v.z + math.sqrt(250*250 - t2.x*t2.x - t2.y*t2.y) + ZERO_OFFSET, v.z + math.sqrt(250*250 - t3.x*t3.x - t3.y*t3.y) + ZERO_OFFSET) def G1(pos, dest): """Convert a long linear cartesian move into many small moves.""" global num_lines for char in 'XYZEF': if char not in dest: dest[char] = pos[char] start = Vector(pos['X'], pos['Y'], pos['Z']) finish = Vector(dest['X'], dest['Y'], dest['Z']) cartesian_mm = abs(finish - start) steps = max(1, int(5 * cartesian_mm)) cartesian_mm /= steps previous = delta(start) previous_e = 'E%.8g' % pos['E'] previous_f = 'F%.5g' % pos['F'] for step in range(steps): fraction = float(step + 1) / steps d = delta(start + (finish - start) * fraction) print 'G1', d.gcode(), # Extruder steps. e = pos['E'] + (dest['E'] - pos['E']) * fraction e = 'E%.8g' % e if e != previous_e: previous_e = e print e, # Feedrate needs to be adjusted for delta geometry. f = pos['F'] + (dest['F'] - pos['F']) * fraction if abs(cartesian_mm) > 0.1: delta_mm = abs(d - previous) f *= delta_mm / cartesian_mm f = 'F%.5g' % f if f != previous_f: previous_f = f print f, print previous = d num_lines += 1 for char in 'XYZEF': pos[char] = dest[char] def G28(pos, dest): """Home all axes.""" if 'X' in dest: pos['X'] = -100 * SIN_60 pos['Y'] = 100 * COS_60 pos['Z'] = 0 if 'Y' in dest: pos['X'] = 100 * SIN_60 pos['Y'] = 100 * COS_60 pos['Z'] = 0 if 'Z' in dest or not dest: pos['X'] = 0 pos['Y'] = 100 pos['Z'] = 0 pos = {} for char in 'XYZEF': pos[char] = 0.0 num_lines = 0 for line in sys.stdin: words = line.split() if not words: print continue dest = {} for word in words[1:]: if word.startswith(';'): break for char in 'XYZF': if word.startswith(char): dest[char] = float(word[1:]) - CENTER.get(char, 0) if words[0] == 'G1': print ';', line.strip() G1(pos, dest) if num_lines > 10000: sys.exit(0) elif words[0] == 'G28': G28(pos, dest) print line.strip() else: print line.rstrip()