polychemprint3.axes.lulzbotTaz6_BP module¶
Implements axes3DSpec for lulzbot taz 6 with modified firmware.
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class
polychemprint3.axes.lulzbotTaz6_BP.
lulzbotTaz6_BP
(name='LulzbotTaz6', posMode='relative', devAddress='/dev/ttyACM0', baudRate=115200, commsTimeOut=0.001, __verbose__=1, firmwareVers='BP')¶ Bases:
polychemprint3.utility.serialDeviceSpec.serialDeviceSpec
,polychemprint3.axes.axes3DSpec.Axes3DSpec
Implemented interface for Lulzbot Taz 6 with BP modified firmware.
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activate
()¶ Makes required connections and returns status bool.
Returns: True if ready to use False if not ready Return type: bool
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deactivate
()¶ Closes communication and returns status bool.
Returns: True if closed succesfully False if failed Return type: bool
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getAbsPosXY
()¶ Gets the current position (absolute) and return XY positions.
Parameters: command (String) – Gcode to write to axes Returns: [X, Y] X and Y positions as strings Return type: String
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handShakeSerial
()¶ Perform communications handshake with serial device.
Returns: - [1, “Handshake Successful”] – success occured
- [0, ‘Handshake Failed, Rcvd + message received’] – failure occured
- [-1, “Error (Handshake with Tool Failed + error text”]) – Error received
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move
(gcodeString)¶ Moves axes by set amount.
Parameters: - gCodeString (String) – Motion command in terms of Gcode G0/G1/G2/G3 supported
- Returns (|) –
- none (|) –
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poll
(command)¶ Sends message to axes and parses response.
Parameters: command (String) – to write to axes Returns: Response from axes Return type: String
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readTime
()¶ Reads in from serial device until timeout.
Returns: All text read in, empty string if nothing Return type: String
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sendCmd
(command)¶ Writes command to axes device when ready.
Parameters: command (String) – to write to axes Returns: Response from axes Return type: String
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setPosMode
(newPosMode)¶ Sets positioning mode to relative or absolute.
Parameters: newPosMode (String) – Positioning mode to use for future move cmds
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setPosZero
()¶ Sets current axes position to absolute (0,0,0).
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startSerial
()¶ Creates pySerial device.
Returns: - [1, “Serial Device Started successfully”] – started succesfully
- [-1, ‘Failed Creating pySerial…’] – could not start
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stopSerial
()¶ Closes serial devices.
Returns: - [1, “Terminated successfully”] – started succesfully
- [-1, “Error (Serial Device could not be stopped + error text”])
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waitReady
()¶ Looks for “ok” in input, waits indefinitely.
Returns: All text read in, empty string if nothing Return type: String
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writeReady
(command)¶ Sends command only after rece0iving ok message.
Parameterscommand, string to write to axesReturnsinp, String read in
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