This file contains a function for plotting the arm position and drawn shapes live on a PC to match the physical plotter. More...

Functions
def	pc_plotter.revert_motor1_target (microsteps)
	Converts the motor1 target value for plotting. More...

def	pc_plotter.revert_motor2_target (microsteps)
	Converts the motor2 target value for plotting. More...

Variables
int	pc_plotter.W = 270

int	pc_plotter.H = 90

int	pc_plotter.D = 42

int	pc_plotter.RD = 40

int	pc_plotter.STEPS_PER_ROTATION = 200

int	pc_plotter.MICROSTEPS = 8

int	pc_plotter.MS_PER_RADIAN = 1 / (2 * math.pi) * STEPS_PER_ROTATION * MICROSTEPS

	pc_plotter.MOTOR1_HOMING_ANGLE = -int(68.27 / 360 * STEPS_PER_ROTATION * MICROSTEPS * 6)

int	pc_plotter.MOTOR1_POLARITY = 1

	pc_plotter.MOTOR2_HOMING_ANGLE = -int((34.7/2 + 60.24 + 0.9) / 40 * STEPS_PER_ROTATION * MICROSTEPS)

int	pc_plotter.MOTOR2_POLARITY = -1

bool	pc_plotter.pen_down = False
	Whether or not the pen is currently down.

list	pc_plotter.robot = [[0 for _ in range(3)] for _ in range(2)]
	2D list for the position of the points on the robot

list	pc_plotter.shapes = []
	List of lists of (x,y) tuples, with 1 outer list for each shape.

int	pc_plotter.curr_shape = -1
	Index of the current shape being drawn.

	pc_plotter.fig = plt.figure()

int	pc_plotter.i = -1

bool	pc_plotter.started = False

	pc_plotter.line = ser.readline().decode().strip('\r\n')

	pc_plotter.theta0 = float(line[0])

	pc_plotter.theta1 = float(line[1])

int	pc_plotter.alpha = 1/6 * theta0

int	pc_plotter.arm_radius = -RD * theta1 / (2 * math.pi)

list	pc_plotter.x_list = []

list	pc_plotter.y_list = []

	pc_plotter.axes = plt.gca()

Detailed Description

This file contains a function for plotting the arm position and drawn shapes live on a PC to match the physical plotter.

Author: Ryan Ghosh

Copyright: This file is licensed under the CC BY-NC-SA 4.0 Please visit https://creativecommons.org/licenses/by-nc-sa/4.0/ for terms and conditions of the license.

Date: June 10, 2022

Function Documentation

◆ revert_motor1_target()

def pc_plotter.revert_motor1_target ( microsteps )

Converts the motor1 target value for plotting.

Takes in a target value for motor1 that was sent to the TMC4210 and converts it for plotting, undoing modifications that were made based on the direction of the motor and its angle when the limit switch is triggered.

Parameters

Target position in microsteps sent to the TMC4210.

Returns: Target position for motor1 in microsteps for plotting.

◆ revert_motor2_target()

def pc_plotter.revert_motor2_target ( microsteps )

Converts the motor2 target value for plotting.

Takes in a target value for motor2 that was sent to the TMC4210 and converts it for plotting, undoing modifications that were made based on the direction of the motor and its angle when the limit switch is triggered.