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Week 17 - Mechanical design

This assignment was challenging, machine finished in a week, the whole group helped and contributed to the project, we conducted 4 groups, all of us encargarmos however part of the project we work together at all stages. In my case I was in charge of programming and machine interface, along with Luis Peña however had support of José de los Rios and Guillermo Soto.

First we had to download files Imoyer, in the end we get confused with files Nadya, however, after following the tutorials we realized that Imoyer working with Gestalt library and Nadya worked with pygestalt library, finally we decided work with files Nadya, however had to use the file imoyer 086-005.

First must be programmed in the gestalt nodes with the Makefile the gestal.cpp and application files 086-005a.cpp mode. and open the file example xy_plotter.py for movement of the axes.

        # GESTALT FIRMWARE MAKEFILE
# REVISED: 3/1/2013
# REVISED: 10/18/2013: added -networkedGestalt lib, now compiles bootloader correctly
# Ilan Moyer and Nadya Peek
# www.pygestalt.org

#Change filename as appropriate. Note: assumes .cpp

GESTALT_DIR = ../pygestalt-master/gsArduino

MCU = atmega328p
FREQ = 18432000 


#application program, uncomment if you want to use this instead.
PROJECT = 086-005a
ADDRESS = 0x0000
GESTALT_DEFS = -DstandardGestalt -DnetworkedGestalt -DsingleStepper -Dgestalt328

#----INNER WORKINGS BEGIN HERE----
GESTALT_FILE = $(GESTALT_DIR)/gestalt.cpp
LDSECTION = --section-start=.text=$(ADDRESS)
SOURCES = $(PROJECT).cpp $(GESTALT_FILE)

CFLAGS = -g -Wall -Os -mmcu=$(MCU) -DF_CPU=$(FREQ) -I$(GESTALT_DIR) $(GESTALT_DEFS)
LDFLAGS = -Wl,$(LDSECTION)

all: $(PROJECT).hex clean

$(PROJECT).o: $(SOURCES)
    avr-g++ $(CFLAGS) -c -Wall $(SOURCES)

$(PROJECT).elf: $(PROJECT).o
    avr-g++ $(CFLAGS) $(LDFLAGS) gestalt.o -o $@ $^

$(PROJECT).hex: $(PROJECT).elf
    avr-objcopy -j .text -j .data -O ihex $< $@

clean:
    rm -rf *.o *.elf

####
# load program code
####
# note: if you only have the 328 instead of the 328p, just compile for 328 
# and load with the -p m328 flag. You'll need to add 328 to your avrdude.

program-avrisp2-fuses:
    avrdude -c avrisp2 -P usb -p m328p -U efuse:w:0x5:m -F  
    #note that only first 3 bits can be set
    avrdude -c avrisp2 -P usb -p m328p -U hfuse:w:0xD8:m -F
    avrdude -c avrisp2 -P usb -p m328p -U lfuse:w:0xEF:m -F

program-avrisp2:

    avrdude -e -c avrisp2 -P usb -p m328p -U flash:w:086-005a.hex


    

After that We make the interface using the Tkinter, and the result was like I show you below:

        def restart():
    global xdist
    global ydist
    global supercoords
    xdist=0
    ydist=0
    supercoords=[[xdist,ydist]]
    print supercoords
    moverse()

def x_mas():
    global xdist
    global supercoords
    xdist=xdist+5
    supercoords=[[xdist,ydist]]
    print supercoords
    moverse()

def x_menos():
    global xdist
    global supercoords
    xdist=xdist-5
    supercoords=[[xdist,ydist]]
    print supercoords
    moverse()

def y_mas():
    global ydist
    global supercoords
    ydist=ydist+5
    supercoords=[[xdist,ydist]]
    print supercoords
    moverse()

def y_menos():
    global ydist
    global supercoords
    ydist=ydist-5
    supercoords=[[xdist,ydist]]
    print supercoords
    moverse()

def moverse():
    global supercoords

    for coords in supercoords:
        stage.move(coords,0)        
        status = stage.xAxisNode.spinStatusRequest()
        while status['stepsRemaining'] > 0:
            time.sleep(0.0095)
            status = stage.xAxisNode.spinStatusRequest()
                        print "nilton"

stage = virtualMachine(persistenceFile = "xy_plotter1_test.vmp")
stage.xyNode.setVelocityRequest(2)  

master = Tk()
master.title("Machine Design TECSUP")
master.bind('q','exit')
master.geometry("300x170")

Label(master, text="Cut Width").grid(row=0)
Label(master, text="Cut Depth").grid(row=1)

e1 = Entry(master)
e2 = Entry(master)

e1.grid(row=0, column=1)
e2.grid(row=1, column=1)



Button(master, text='x+', command=x_mas).grid(row=3, column=0, sticky=W, pady=4)
Button(master, text='x-', command=x_menos).grid(row=3, column=1, sticky=W, pady=4)

Button(master, text='y+', command=y_mas).grid(row=4, column=0, sticky=W, pady=4)
Button(master, text='y-', command=y_menos).grid(row=4, column=1, sticky=W, pady=4)

Button(master, text='Quit', command=master.quit).grid(row=5, column=0, sticky=W, pady=4)
Button(master, text='MOVE', command=move_axes).grid(row=5, column=1, sticky=W, pady=4)
Button(master, text='RESTART', command=restart).grid(row=5, column=2, sticky=W, pady=4)
mainloop( )

Detecting edges of a figure was performed using a canny function to detect the edges, this method gave me the coordinates of the edges, however not able to automatically bind to the interface, point to point programming performed.

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