pygrbl provides a simple interface for controlling grbl-based
cartesian robots (https://github.com/grbl/grbl) via USB. This package was developed
as part of Algae (https://github.com/kelpdotkelp/Algae).
Before positioning is enabled, you must pass a valid PyGRBLChamber
object to set_chamber, and call PyGRBLMachine.set_origin(). Note:
if the origin or the chamber geometry is not set correctly you risk
the target colliding with the chamber as all of pygrbl error checking depends
upon correctly setting those parameters.
See /pygrbl/examples/simple_test.py for more detail on how to configure pygrbl.
All distances are in millimeters.
Main class for controlling a cartesian robot. Should not be instantiated directly,
use create_pygrbl_machine instead.
PyGRBLMachine.__init__(address: str)
PyGRBLMachine.set_origin()
Sets the origin of the machine to its current physical position.
PyGRBLMachine.set_position(self, pos_new: Point)
pos_new -> Next position to move to.
Attempts to move to the specified position. Queries the controller while moving to ensure target remains within chamber bounds.
Base class for all chamber geometries.
is_point_valid(point: Point)
Implemented by subclasses, returns a boolean indicating whether
point is valid to move to based on the subclass chamber geometry and
target geometry.
Specifies a chamber geometry of a circle in the XY plane with a circular target inside it.
ChamberCircle2D.__init__(self, radius: float, padding: float, target_radius: float)
radius -> The measured radius of the chamber.
padding -> Extra distance away from edge of chamber that target can not enter.
target_radius -> Cross-sectional radius of the target. Non-circular targets can be used by first bounding them with a circle to get their radius.
@property ChamberCircle2D.true_radius
Circle which points can actually be in, calculated as:
self.radius - self.padding - self.target_radius
ChamberCircle2D.is_point_valid(point: Point)
See superclass definition.
@staticmethod ChamberCircle2D.gen_rand_uniform(num_points: int, radius: float, order='none')
num_points -> Number of points to generate.
radius -> radius of circle to generate them in.
order -> 'none' or 'nearest_neighbour' how to order the points once generated.
Returns a list of uniformly distributed points with the specified radius.
Specifies a chamber geometry of a cylinder in the XYZ plane, with a cylindrical target. The origin is taken at the center of the cylinder, on the top face.
ChamberCylinder3D.__init__(self, radius: float, height: float, padding: float, target_radius: float, target_height: float)
radius -> Radius of the chamber.
height -> Height of the chamber.
padding -> Extra distance away from the chamber edges that the target can not enter.
target_radius -> Radius of the target.
target_height -> Height of the target.
For a spherical target, target_radius would be the sphere's radius, target_height would be the sphere's diameter.
@property ChamberCylinder3D.true_radius
Circle which XY points can actually be in, calculated as:
self.radius - self.padding - self.target_radius
@property ChamberCylinder3D.true_height
Boundary in the Z direction for points, calculated as:
self.height - self.padding - self.target_height/2
ChamberCircle2D.is_point_valid(point: Point)
See superclass definition.
Represents points in 3D cartesian coordinates.
Instance attributes: Point.x, Point.y, Point.z, Point.mag
Point.dist(other: Point)
Returns the distance between this instance and other.
create_pygrbl_machine
address -> Serial port that the GRBL controller is connected to, ex. COM4.
Returns an instance of PyGRBLMachine if the serial connection was successful,
otherwise, it returns None.
set_chamber(chamber: PyGRBLChamber)
Sets the physical dimensions of the chamber and target being moved.
Calling set_chamber is required before positioning is enabled.
load_csv(path: str, dimension: int)
path -> Absolute path of a .csv file dimension -> How many components each point has (2 or 3).
Parses a .csv file of floats and returns a list of Point objects.