12. Machine building¶

This week I tried to build a machine, you can check out the whole thing in the group page.

The Code¶

As my team members suggested, we would try to controll two stepper motors trhough serial communication using a USB hub.

``````# Max Garcia 19.04.2022

import math as m
import serial
import time
from serial.tools import list_ports

motors_com = {
"X": 'COM1',
"Y": 'COM2'
}

motors = {
}

values = {
"total_d": 0,
"y_gap": 0,
"n_steps_x": 0,
"n_steps_y": 0
}

values_f = {
"placeholder": 14.04
}

pos = {
"x": 0,
"abs_x": values["total_d"]/2
}

def input_d():
while True:
text = input()
if text.strip() == "done":
break
else:
text_1 = text.split(", ")
print(text_1)
direction, steps = text_1[0], int(text_1[1])
move(direction, steps)
if direction == "R":
values["n_steps_x"] = values["n_steps_x"] + steps
elif direction == "L":
values["n_steps_x"] = values["n_steps_x"] - steps
elif direction == "U":
values["n_steps_y"] = values["n_steps_y"] + steps
elif direction == "D":
values["n_steps_y"] = values["n_steps_y"] - steps

def calculate():
values_f["steps_to_d_y"] = values["n_steps_y"] / (values["radius"] * 2)

def from_angle(angle):
# First determines position of needle
# Positive x means going right
if angle <= 90:
dx = x - pos["x"]
dy = -(y - pos["y"]) - dx
else:
dx = x - pos["x"]
dy = -(y - pos["y"]) - dx
pos["x"], pos["y"] = x, y
if dx > 0:
direction = "R"
else:
direction = "L"
if dy > 0:
direction = "D"
else:
direction = "U"
steps_x = int(values_f["steps_to_d_x"] * dx)
steps_y = int(values_f["steps_to_d_y"] * dy)
move(direction, steps_x)
move(direction, steps_y)

def calibrate_x():
"""
:return: number of steps to displacement ratio
"""
print("What is the distance between the two endpoints of the machine? (cm)")
values["total_d"] = int(input())
print("What is the radius of the pointer? (cm)")
print("      This is the distance between the two attachment points")
print("Move to leftmost/lowest point the pointer goes using the format: Direction (U,D,L,R), N_Steps(Integer)")
print("Examples: \"L, 500\" or \"U, 100\"")
print("Once finished type: \"done\"")
input_d()
print("Now move to the middle/highest point using the same commands as before. (\"done\" to exit")
input_d()
calculate()
print("Calibration finished")

def begin():
print("What is the COM port for the X motor? e.g. \"COM7\"")
motors["COM_X"] = input()
print("What is the COM port for the Y motor? e.g. \"COM7\"")
motors_com["COM_Y"] = input()
motors["motor_x"] = serial.Serial(port=motors_com["COM_X"], baudrate=9600, timeout=.1)
motors["motor_y"] = serial.Serial(port=motors_com["COM_Y"], baudrate=9600, timeout=.1)

def move(direction, steps):
"""
Discriminates between directions and decides to which motor
information is to be sent.
"""

divisions = 25
if direction == "R" or direction == "L":
message = ", ".join([direction, str(steps)])
motors["motor_x"].write(message.encode())
print(message)
elif direction == "U" or direction == "D":
message = ", ".join([direction, str(steps)])
motors["motor_y"].write(message.encode())
print(message)

if __name__ == "__main__":
begin()
calibrate_x()
from_angle(90)
``````

Files¶

The code

Last update: April 19, 2022